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This work presents a study on dynamics of homocinetic half-shaft with constant velocity joints using experimental modal analysis. It shows the development of a test rig that allows a representative simulation of the dynamic conditions imposed by the vehicle to the component concerning its first bending mode. This equipment allows a precise adjustment of the test parameters and increases the repetitiousness of the results comparing to the results obtained using the vehicle, but the main advantage is the possibility of executing experimental test before the vehicle prototype manufacture. The implementation of this test rig is discussed and its validation against vehicle data obtained experimentally is shown.