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In this paper, a three dimensional finite element method is developed for the dynamic and vibration analysis of the rear axle system. The method allows for the dynamic modeling of several components of the axle system including the input shaft, the output shafts, the control arms, track bar, tires, bearings, bushings, and helical springs and dashpots of the suspension system. The input and output shafts, the control arms, and the track bar are modeled using three dimensional finite elements. Beam elements, each of which has two nodes and twelve degrees of freedom, are used in the finite element discretization. The formulation developed in this paper takes into account the effect of the angular velocities of the rotating input and output shafts. It is shown in this investigation that in order to model the effect of the angular velocities of the rotating shafts, a non-conventional finite element formulation must be used.