Endo and Exo are used to designate the stereochemistry of an "R" group in a bicyclic ring system. Lets do an example problem.
QUESTION: Is the "R" group in the below structure in the endo or exo position?
SOLUTION:
if the R group is on the same side as the LONGEST bridge then it is considered ENDO
Thus, the R group is this example is exo.