Rear-wheel drive cars have commonly used a lengthwise propeller shaft with a rubber doughnut joint at the gearbox end (limited movement) and a universal joint at the rear axle (greater movement), or vice versa.
The joint consists of one or more doughnut-shaped layers of flat rubber sheet with reinforcing cords vulcanized in them, similar to a tire.
The bolt holes themselves are often reinforced by steel tubes moulded into the doughnut.
As rubber technology improved (particularly for its resistance to spilled mineral oils), it was possible to replace leather by longer-lasting materials.
"Rag joints" were used on some American cars, including GM full size sedans, into the mid 90s.