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What is a driveshaft?

A driveshaft is nothing more than a steel bar to extend rotational torque.  On a car, a driveshaft is connected on one end to the transmission (or transfer case) and on the other end to a differential (which is connected to an axle).  A typical driveshaft does not change the ratio of rotation; it simply rotates at the exact same rpm as the output of the transmission/transfer case.

RWD

Rear-wheel-drive applications typically have a single driveshaft connected from the transmission to the rear axle.

4WD

Four-wheel-drive vehicles usually have two driveshafts.  On a typical 4WD vehicle, one driveshaft is connected to the the transmission and rear axle, just like on a RWD vehicle.  But a second driveshaft is connected from the transfer case (which is connected to the transmission) to the front axle.

Some newer 4WD systems are made up of a transverse engine (like a FWD) and have a single driveshaft connected from the transfer case to the rear axle.  The Ford Escape/Mazda Tribute is set up this way.

FWD