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In this paper, vibrations caused by brake judder are investigated theoretically and experimentally, in a vehicle. The experimental results of a road test are compared with the theoretical results obtained from a simplified model of the transfer path between the brake system and the steering wheel. Two accelerometers are used in order to measure the vibrations observed by the driver on the brake pedal and the steering wheel. The acquired signals are analyzed through waterfall analysis during the braking procedure. On the other hand, a similar condition is simulated by using a simplified model of transfer path between the brake disc and the steering wheel. Finally, a qualitative comparison is made between the results of simulations and experiments. The results show that both natural frequencies of the transfer path are observed in the experiments as well as simulations. The first two orders of the wheel are the dominant vibrations as stated in the literature.