The original suspension design on 1984-2001 Jeep Cherokees has limited travel due to short control arms. This causes binding in the suspension and steering linkage. The proposed design replaces the stock control arms with a new Y-link control arm and cross member setup to increase articulation and improve ride quality. The Y-link design functions as both an upper and lower control arm for increased ground clearance and travel. Finite element analysis will evaluate stresses on the bent Y-link design. Testing will compare the stock and new designs using a Ramp Travel Index for articulation and accelerometers for ride quality analysis.