Does it do it when the car is sitting still, or moving, or both?
If it is only when the car is moving, does it do it in any gear when the engine gets to 3,000 rpm, or only one gear, and what gear is it?
My scary u-joint failure story:
I had a front u-joint give out on my '68 MGB-GT while I was going nearly 100 mph downhill on a 7% mountain grade in Arizona on I-17 once. The front of the driveshaft dug into the road surface and felt like it nearly tore the rear end off the car, and caused the car to become partially airborne. Not good when one side of the highway is a substantial dropoff into a canyon, and the other side is a solid wall of rock. I got the car under control, it never had all 4 wheels off the ground, and kept going straight. From then on drivetrain vibrations make me REALLY nervous! /ubbthreads/images/graemlins/eek.gif
The amazing thing about it was that there was no serious damage to the driveshaft or flanges. 4-5 hours later, I was driving the car again, nearly 3 of the hours were spent hitchhiking to and from a NAPA for new u-joints with a driveshaft in my hands...
I drove like a grandma until I got home and triple checked everything from the transmission back.