1994 grand cherokee 2 wheel drive dana 35 rear axle drum brakes when braking hard the rear of the jeep chatters and vibrates. To eliminate other causes it also occurs when trying to stop with the emergency brake

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There could be a couple different issues, a braking problem, like the weights that fel1 off the drums, could be a binding brake cable, or damaged rear brake hardware. Use a floor jack to raise the rear end on the differential to keep the normal drive shaft angle and block the vehicle for safety.

2. Run vehicle up to the speed where it vibrates to determine if it's in the rear.

3. Take off the tires (put the lugs back on to keep the drums on) and see if it still vibrates.

4. If it still does, remove the drums and try again. Remember to not hit the brakes with the drums off.

5. If it still vibrates, try changing the drive shaft angle to see if it goes away.

This sounds to me like a rear suspension issue you are going to want to inspect all rear suspension parts and mounting brackets, bushings, shackles, pins, shocks, ujoints......etc