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A method for the measurement of the full mass properties of vehicles and subsystems is presented. The knowledge of the center of gravity location and of the inertia tensor of vehicles and subsystems is fundamental for performing accurate dynamic simulations, ranging from handling to durability. The accurate estimation of the inertia tensor can be achieved primarily via experimental tests. Given a rigid body and its mass, the proposed method allows to measure the center of mass location and the inertia tensor during a single test. The proposed technique is based on the analysis of the free motion of a multi-cable pendulum to which the vehicle or the subsystem is connected. The body under test is made rotating around three axes passing nearby the body center of mass with a highly non linear motion.