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Driveline shudder is a low-frequency (10 Hz - 30 Hz) vibration issue of vehicles that can occur under various test conditions. Specifically, launch shudder is an issue that can be prevalent under vehicle take-off conditions. Factors that typically contribute to launch shudder include stick-slip excitation of friction materials (clutches) and driveline excitations, in particular, on rear wheel drive (RWD) vehicles. Shudder caused by the driveline excitation is generally related to the universal joints (Cardan joints) in the driveline system. In this case, the u-joint forces and kinematics induce a 2nd order excitation when operated under a driveline angle. This document focuses on launch shudder phenomena resulting from driveline system excitation on a RWD vehicle. An initial treatment of the physics governing launch shudder and typical factors influencing the shudder levels in vehicle are provided.