Disclosed is a method for estimating downhole lateral vibrations a drill tubular disposed in a borehole penetrating the earth or a component coupled to the drill tubular. The method includes rotating the drill tubular to drill the first borehole and performing a plurality of measurements in a time window of one or more parameters of the drill tubular at or above a surface of the earth during the rotating using a sensor. The method further includes estimating the downhole lateral vibrations using a processor that receives the plurality of measurements.