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Vibrational analysis of composite drive shaft is carried out with nonlinear parameters also for different cracks are evaluated. Material and Geometric nonlinearities are considered for the analysis. In order to find out nonlinearities numerical and experimental static analysis (Torque vs Theta) of composite drive shaft is carried out. The numerical results from Finite Element Analysis showed in general a good agreement with the experimental values. However, differences indicating the necessity to improve the model input data as well as the experimental procedure. For composite drive shaft different cracks are created. Moreover the natural frequency of the Composite Drive shaft with crack decreases as compared to the shaft without crack and for the same composite drive shaft, natural frequency increases with increase in the distance of crack position from the fixed end.Experimental setup is also developed to validate the numerical results obtained from ANSYS Workbench. Experimental results showed in general a good agreement with numerical results obtained for nonlinear composite drive shaft.