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It depends what you're trying to do. You're on the right track, Pinpoint and SNS are both options for mobile messaging.
Pinpoint: https://docs.aws.amazon.com/pinpoint/latest/apireference/operations.html SNS (without subscribing the phone number to a topic): https://docs.aws.amazon.com/sns/latest/dg/sms_publish-to-phone.html
Keep in mind there is a SNS "sandbox" mode for SMS to protect reputation and not spam: https://docs.aws.amazon.com/sns/latest/dg/sns-sms-sandbox.html. Once out of the sandbox mode, you can send SMS messages to any recipient and not just verified ones.
I can't find how SNS can be invoked via a web service call (eg. HTTP), I can only find documentation and examples using Amazon SDKs for specific languages. I don't want to build the SDK into my application (all the other AWS services we use are REST endpoints... why not this one?).