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Ensuring the safety of passengers is one of the prime challenges for vehicle design engineers. The braking system is the most important safety feature incorporated in a vehicle. Most of the commercial vehicles such as trucks, buses, etc., are equipped with an air brake system. The air brake system is sensitive to maintenance and needs to be monitored regularly to ensure its proper functioning. Current monitoring methods of air brake systems are predominantly manual in nature and can be performed only when the vehicle is stationary. One of the most important parameters that are critical for the proper functioning of an air brake system is the push rod stroke. The push rod stroke is related to the clearance between the brake pad/shoe and the brake drum and hence is indicative of brake wear. The objective of this research work is to study the mechanical subsystem of the air brake system and develop a mathematical model for the same.