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Rusteebricks explanation is good--but I'd add one note--just in case the shaft had been out and then not reinstalled properly. If you rotate the shaft so that the yoke attached to the transmission is vertical, the last yoke-attached to the differential-has to be horizontal. If yours is out of phase to begin with you may have to try both possibilities-that is-the rear shaft can be flipped 180 degrees to satisfy the alignment but only one way will put it all in balance. Only road testing and checking for vibration will tell you if it's right.
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