A torque transmitting shaft includes a first member and a second member. The first member has an inner surface that defines a plurality of engagement elements. The second member has a first end portion, a second end portion, and an intermediate portion. The first end portion of the second member defines a splined portion. Each member of the splined portion is received within corresponding engagement elements of the plurality of engagement elements. Each member of the splined portion includes a first protrusion that engages the inner surface of the first member.