A Universal Joint (U-joint) is a mechanical coupling that connects the driveshaft to the transmission and differential yoke. It consists of a steel cross-shaped body (journal) with cup bearings packed with needle rollers on each of the four ends. As the rear wheels go over bumps and the differential moves up and down, the U-joint lets the driveshaft spin constantly while bending at different angles. This prevents the shaft from binding.
U-joints fail when the grease inside the needle bearings dries out or escapes. Moisture enters the cups, rusting the needles. The bearings seize, causing a high-pitched squeaking noise that changes with vehicle speed, or a loud metallic clunk when you shift the car from Park to Drive.