A torque transmitting shaft (10; 230) comprising: a first member (20; 240) extending along an axis, the first member (20; 240) having an inner surface (42; 262) extending between a first end (32; 252) and a second end (34; 254), the inner surface (42; 262) defining a plurality of first engagement elements (50; 270) disposed proximate the first end (32; 252); and a second member (22; 242) extending along the axis and received within the first member (20; 240), the second member (22; 242) having a first end portion (60; 280), a second end portion (62; 282), and an intermediate portion (142; 214) extending between the first end portion (60; 280) and the second end portion (62; 282), the first end portion (60; 280) having a first spline portion (80; 290), each member of the first spline portion (80; 290) is received within corresponding engagement elements of the plurality of first engagement elements (50; 270); and a first torsional stiffness rate is provided by the second member (22; 242) while a first torque is applied to the second member (22; 242) and while there is a tangential clearance between the first spline portion (80; 290) and the plurality of first engagement elements (50; 270) and a second torsional stiffness rate is provided by at least one of the first member (20; 240) and the second member (22; 242) while a second torque is applied to the second member (22; 242) and while there is no tangential clearance between the member of the first spline portion (80; 290) and an engagement element of the plurality of first engagement elements (50; 270), characterized in that the second end portion (62; 282) is fixedly positioned relative to the first member (20; 240) by fixing the second end (34; 254) of the first member (20; 240) to a flanged surface of the second end portion (62; 282). a first member (20; 240) extending along an axis, the first member (20; 240) having an inner surface (42; 262) extending between a first end (32; 252) and a second end (34; 254), the inner surface (42; 262) defining a plurality of first engagement elements (50; 270) disposed proximate the first end (32; 252); and a second member (22; 242) extending along the axis and received within the first member (20; 240), the second member (22; 242) having a first end portion (60; 280), a second end portion (62; 282), and an intermediate portion (142; 214) extending between the first end portion (60; 280) and the second end portion (62; 282), the first end portion (60; 280) having a first spline portion (80; 290), each member of the first spline portion (80; 290) is received within corresponding engagement elements of the plurality of first engagement elements (50; 270); and a first torsional stiffness rate is provided by the second member (22; 242) while a first torque is applied to the second member (22; 242) and while there is a tangential clearance between the first spline portion (80; 290) and the plurality of first engagement elements (50; 270) and a second torsional stiffness rate is provided by at least one of the first member (20; 240) and the second member (22; 242) while a second torque is applied to the second member (22; 242) and while there is no tangential clearance between the member of the first spline portion (80; 290) and an engagement element of the plurality of first engagement elements (50; 270), characterized in that the second end portion (62; 282) is fixedly positioned relative to the first member (20; 240) by fixing the second end (34; 254) of the first member (20; 240) to a flanged surface of the second end portion (62; 282).