Multibody dynamics and tyre models have made possible detailed analysis not only for ride and handling, but also for determining their effects on tyre nonuniformities. The aim of this paper is to analyse the steering wheel vibration, both shimmy and shake, excited by different tyre imperfections by using the commercial simulation package ADAMS/car 2005R2 and FTire. Different settings with respect to imperfection locations, amount, and the combined effects of defects have been studied. An interesting beat phenomenon is observed when all the wheels have imperfections. A procedure to determine the type of imperfections in the tyre from the results of the test rig has also been proposed.