I need a "primer" on u-joints. I don't even know the nomenclature for a typical cross-type automotive u-joint (steel cross with four needle bearings)? And I've never seen (or tried to derive) the math (output angular position vs. input as a function of running-angles, etc.). For a two-joint drive (typical front & rear of a driveshaft), what orientation of the joints provides maximum cancellation of angular velocity disturbances? Is it true that equal-but-opposite run-angles of the two joints is most desirable?
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