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Hydraulic bushings, which are often employed in vehicle suspension systems, exhibit significant excitation-dependent properties. However, previous analyses were mainly based on the linear system theory. To overcome this void, nonlinear characteristics of common hydraulic bushing configurations are examined in this article, with focus on the component properties as excited by sinusoidal or step displacements of various amplitudes. First, a nonlinear model for a laboratory prototype with a long passage and a short passage (in parallel) is developed using a lumped-parameter approach. Then the system parameters and nonlinearities are identified using experimental and computational methods, with an emphasis on characterization of the flow passage resistances. Steady-state harmonic and transient step experiments are conducted on the prototype, and the dynamic pressures inside two fluid chambers and the force transmitted to the base are measured. Numerical solution of the nonlinear model shows that the proposed model predicts both steady-state sinusoidal responses and transient responses well for single-passage and dual-passage configurations; significant improvement over a corresponding linear model is observed. Finally, approximate analytical and semi-analytical solutions of the nonlinear model are obtained by using the harmonic balance method.