Abstract The theoretical model for the ball joint squeak problem is proposed. The ball joint is modeled as a sphere attached to a rotating flexible beam and it is in contact with a semi-spherical rigid socket. The relative rotation and vibration between the ball and socket produces friction stresses causing the dynamic instability of the system. The squeak propensity of the ball joint system is numerically investigated through the eigenvalue sensitivity analysis at the sliding equilibrium. Stability analysis shows that the bending modes of the beam can produce the dynamic instability under the negative friction–velocity slope. It is also highlighted that the squeak propensity under the poor friction characteristics can be controlled by the system parameters such as the sliding speed, the contact stiffness, the radius of the ball, the axial load and the tilting angle.