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To check a u-joint, grab both sides of the joint (i.e. one hand on the driveshaft and the other on the yoke) and twist them back and forth in opposite directions to see how much "slop" there is in the joint. Worn u-joints will usually start to vibrate on you.
Also when you put the car in reverse and start backing up, a squeeking noise is heard. This is caused by dry bearings. At this time you're best to replace them, front and rear.
Just letting you know I finally fixed my 3 week problem....the driveline was out of balance, not by much, but enoughto make a difference. Just got it balanced and the stang runs again!!! THANKS FOR THE INPUT