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The joint you are looking for is the U joint. You have one at the back of the transmission and another where the drive shaft attaches to the rear end. On the extended version there will also be a U joint in the middle. So if you look under the car and the drive shaft just looks like one long tube you have a two joint shaft. If however, you see what appears to be a joint about the size of both of your fists together in the middle of the shaft, you are looking at the third joint.

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Q: What is the difference between a 2 joint shaft and a 3 joint shaft for a 1996 Dodge Dakota?
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