Vibro-impacts in manual transmissions result due to several nonlinearities such as multi-staged clutch characteristics and gear backlashes. For the sake of understanding the torsional system, one specific manual transmission with front engine and front wheel drive configuration is investigated with a linear model under the several assumptions substituting the nonlinear factors. First, this system is examined with the mathematical approaches by expressing the governing equations to find out the torsional motions. Second, this system is analyzed using the linear model in order to understand its modal and frequency response characteristics using eigensolution method and the FRF(Frequency Responses Function) analysis. Third, with the given results from the eigensolutions, several mode shapes are investigated related to the torsional motion characteristics. Fourth, the system characteristics with the FRFs are studied with the basic approach, with which the several key parameters will be suggested based upon the results in the further studies.