The torsional and axial vibrations of shaft system have been calculated independently because of both the limitation of computing time and the complexity of crankshaft model. In actual system, however, the torsional and axial vibrations are coupled. Therefore, in recent, many works in the coupled vibration analysis have been done to find out the more exact dynamic behavior of shaft system. The crankshaft model is very important in the vibration analysis of shaft system because most of excitation forces act on the crankshaft. It is, however, difficult to establish an exact model of crankshaft since its shape is very complex. In this work, an efficient method is proposed to construct the stiffness matrix of crankshaft using a finite element model of half crankthrow. The proposed and existing methods are compared by applying to both a simple thick beam with circular cross section and an actual crankshaft.