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The suspension's contribution to driveline vibration is related to its ability to maintain specified and correct u-joint working angles The most common types of air suspensions in use today are the trailing arm type, which have rigid axle attachments and two air springs per axle Dynamic changes to the suspension during vehicle operation can cause the driveline angles to change from the static or design condition These driveline angle changes cause u-joint cancellation errors, which may result in torsional driveline vibration This paper explains how the suspension's reaction to powertrain torque can influence driveline vibration Methods of reducing the amount of suspension induced u-joint cancellation errors are explained Other factors of suspension and height control system design that affect torsional vibration are also discussed