The dynamic model of shafting with angle misalignment was given under unsteady oil film forces and impact/rub forces, and the dynamic equations were derived by Lagrange equations using displacement restrain condition. Then the lateral vibration characteristics were given in accelerating process. The results indicate that the shafting lateral vibrations are a strongly nonlinear and non-stationary 3-Dof vibration system including self-excited, parametric and forcing excitation due to angler misalignment. The misalignments bring some new nonlinear and coupled terms to the systems, which results in some new resonant frequencies, including super-harmonic resonance, sub-harmonic resonance and combination resonance.