Kane,
Find your drive shaft (the long cylindrical shaft that connects your transfer case (or transmission) to your rear differential (the big round pumpkin directly in the middle of your rear axle)). Now, your rear U-joint is located where the drive shaft meets the differential and it allows the drive shaft to spin at different angle to the differential. If you have a 4x4 there will also be a u-joint at the front of the drive shaft where it meets the transfer case. Grab the drive shaft near each of these u-joints while your car is in gear or in Park and try to move it in any and all directions and try to turn it also. There should not be play or looseness in the actual joint, although the flange that it is bolted on to may turn a bit. Good luck!