The methodology has been developed to analyze the forces and stresses in a steering column with any arbitrary Cardan univeral joint system. Various forces and moments in a two Cardan joint system supported by two anti-friction radial bearings on both the input and output shaft have been determined as a function of shaft rotational angle. It is assumed that the torque and axial force in the input shaft are given. With this assumption, 30 unknowns are solved from 30 simultaneous force and moment equilibrium equations for the three shafts and two crosses. This general analysis will determine bearing loadings, torque variations within the system, and allow calculation of stress fields within critical components. A more efficient design for the system can be realized with the results of such an analysis.