Abstract: A method of phasing u-joints of a steering shaft assembly in a three shaft, two u-joint arrangement involves inputting steering shaft assembly coordinates to a first spreadsheet, generating a computer-aided design image of the steering shaft assembly based on the steering shaft assembly coordinates, performing kinematics calculations of the steering shaft assembly using the computer-aided design image, exporting kinematics calculation results to a second spreadsheet, graphing relative steering shaft assembly speeds relative to a rotational position of the steering shaft assembly in accordance with the kinematics data, analyzing graphs of the steering shaft assembly speeds for phasing compliance, and analyzing graphs of the steering shaft assembly speeds for relative speed compliance. Finally, phasing the yokes on either end of the intermediate shaft of the steering shaft assembly in accordance with the speed of the steering shaft and the speed of the gearbox input shaft is accomplished.