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Experiment results were compared with computation analysis results for torsional vibration on a crankshaft system with/without a torsional viscous damper on a six-cylinder in-line type turbocharged diesel engine and a V type ten-cylinder naturally-aspirated diesel engine respectively. At first, the boundary conditions for boundary element method (BEM) model were determined to estimate the torsional stiffness of the crank-throws of the crankshafts. Then, the estimated stiffness was used to calculate the natural frequencies of the torsional vibration without the damper by dynamic stiffness matrix method. As a result, the calculated natural frequencies approximately agreed with the measured ones. Finally, the torsional vibration with the damper was analyzed by using the dynamic stiffness matrix method and complex viscous damping coefficients for the damper. The calculated torsional amplitudes and resonant engine speeds agreed with the experiment results.