I know this may be a very newbie question, but I really want to know.
When you come in for a new day of work and see coworkers, is it common to shake hands, or simply say "hi" or "morning" ? Or Do people just get right to work?
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Shaking hands daily would be way too formal.
People vary from a slight head nod to a full-blown "Hi, how are you, how was [the weather / the ride in / sports trivia].
It really depends on the type of work, industry, type of company, size of company, country, style of company, etc.
The main guide with etiquette questions like this is to wait and see and observe what the existing folks do and follow their need. They'll be expecting you to do that anyway.
I agree with most of what Michael mentioned with one small addition. You should greet people in whatever way is most comfortable to you, but be encouraged to step out of your comfort zone a bit.
Observe what everyone else is doing and figure out a way to make yourself standout in a memorable, yet appropriate, way. If most people just say, "Hey", then throw in a "How ya doing?". Cultivating relationships starts with making yourself approachable.
There's a ritual in office I work in to shake hands of all inside. A few minutes of walking between all desks.
I find no sense in that and never do such a think. I just go in and say 'Hello' (sometimes it happens I forget it). But I'm not typical because I don't like physical contact. And noone ever said me a bad work about it.
First, see what other people do and find the "standard".
Then, add a bit of "your personality" to that standard and make it your way.
You're a social avoiding person and everyone at office has a 10 min talk at morning just to start-up. Join that talk for 5 min, and go work.
You're a happy person that like socializing and getting to know everyone at office, but the others are more of the "straight to the desk without a hi" kind of people. In this case just share some good mornings around on your way to your desk.
On a new encounter, introduce yourself. If your company is typical, then someone who you met at the interview should take you around the people who you are to work with and introduce them to you.
On a day to day basis, I just say "Morning" and carry on my work. usually followed by some benign bullshit I really couldn't give a shit about, usually TV, sport or some other event that everyone can relate to.
After about 2 months, I give up on the small talk and just get on with the job. People get on my nerves, but hey, you got to pretend, or you don't get paid :)