Classic cycle-joining techniques have found widespread application in creating universal cycles for a diverse range of combinatorial objects, such as shorthand permutations, weak orders, orientable sequences, and various subsets of $k$-ary strings, including de Bruijn sequences. In the most favorable scenarios, these algorithms operate with a space complexity of $O(n)$ and require $O(n)$ time to generate each symbol in the sequences. In contrast, concatenation-based methods have been developed for a limited selection of universal cycles. In each of these instances, the universal cycles can be generated far more efficiently, with an amortized time complexity of $O(1)$ per symbol, while still using $O(n)$ space. This paper introduces $\mathit{concatenation~trees}$, which serve as the fundamental structures needed to bridge the gap between cycle-joining constructions based on the pure cycle register and corresponding concatenation-based approaches. They immediately demystify the relationship between the classic Lyndon word concatenation construction of de Bruijn sequences and a corresponding cycle-joining based construction. To underscore their significance, concatenation trees are applied to construct universal cycles for shorthand permutations and weak orders in $O(1)$-amortized time per symbol. Moreover, we provide insights as to how similar results can be obtained for other universal cycles including cut-down de Bruijn sequences and orientable sequences.