The flight crew of the Boeing Company 737-76N aircraft reported that during descent and taxi operations, they felt several rudder 'kicks' in the pilot in command's rudder pedals, accompanied by an audible noise.

Subsequent examination of the pilot in command's rudder pedal jackshaft assembly revealed two bearings and a universal joint were worn excessively.

The wear of the components of the jackshaft assembly, although not desirable, was not an immediate safety of flight concern for the operation of the aircraft.

The operator issued a flight crew operations notice and an engineering notice to highlight the occurrence to personnel.