Tarjan's algorithm finds all articulation points in time using the same DFS approach. A vertex is an articulation point if:
is the root of the DFS tree and has children (root case), OR
is not the root and has a child where low[v] >= disc[u] (non-root case).
Note: not like bridges. Equality means the subtree can reach but not beyond, so is still critical.
Space complexity is for the data structures used.