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An experimental method for determining the Instantaneous Frictional Torque (IFT) using pressure transducers on every cylinder and speed measurements at both ends of the crankshaft is presented. The speed variation measured at one end of the crankshaft is distorted by torsional vibrations making it difficult to establish a simple and direct correlation between the acting torque and measured speed. Using a lumped mass model of the crankshaft and modal analysis techniques, the contributions of the different natural modes to the motion along the crankshaft axis are determined. Based on this model a method was devised to combine speed measurements made at both ends of the crankshaft in such a way as to eliminate the influence of torsional vibrations and obtain the equivalent rigid body motion of the crankshaft. This motion, the loading torque and the gas pressure torque are utilized to determine the IFT.