Abstract: In one embodiment, a method is provided for detecting a fault condition in a drivetrain, including the steps of monitoring torque oscillations at a location along a drivetrain, and detecting at least one fault condition associated with a drivetrain component by evaluating torque oscillation data acquired during the monitoring. In another embodiment, a system is provided for detecting a fault condition in a drivetrain including a torque sensor coupled to a drivetrain component and configured to measure torque at a location along the drivetrain and to generate a torque oscillation signal corresponding to the measured torque, and a controller configured to receive the torque oscillation signal and evaluate the torque oscillation signal to identify at least one fault condition associated with the drivetrain component.