This paper presents an investigation of the driveline torsional vibration behaviour, referred to as judder, which takes place during the clutch engagement process, particularly on small trucks with diesel engines. A non-linear multibody dynamic model of the clutch mechanism is employed to study the effect of various clutch system and driveline components on the clutch actuation performance. The paper demonstrates that judder is affected by driveline inertial changes, variation in the coefficient of friction, μ, of the friction disc linings with slip speed, v, and the loss of clamp load. The results of the simulations show that various friction materials with different μ- v characteristics produce torsional self-excited vibrations of the driveline. The results also show that loss of clamp load relating to the speed of clutch actuation also contributes to judder. Furthermore, it is shown that the simulation results conform closely to the experimental findings.