Tracking the process of fault growth in mechanical systems using a range of tests is important to avoid catastrophic failures. So, it is necessary to study the design for testability (DFT). In this paper, to improve the testability performance of me-chanical systems for tracking fault growth, a fault evolution-test dependency model (FETDM) is proposed to implement DFT. A testability analysis method that considers fault trackability and predictability is developed to quantify the testability performance of mechanical systems. Results from experiments on a centrifugal pump show that the proposed FETDM and testability analysis method can provide guidance to engineers to improve the testability level of mechanical systems.