The results of a comprehensive investigation into the dynamic performance of braking-system components are presented. Typical transient and sinusoidal dynamic response data are illustrated for drum and disc brakes, and rigid and flexible brake lines. Laboratory transient response data for complete brake systems are also presented. A generalized brake-system mathematical model, based on a component by component analysis, is formulated in detail. The utility of this model in the design of antiwheel-lock devices and in human factors braking control investigations is discussed.