How do you fix the rattle sound coming from the rear end when ever you hit a bump in you 1997 Jeep Grand Cherokee?

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Something is loose. Find the loose part. More than likely the exhaust system.  

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I also found that the jack and tire wrench on my 94 under the rear passenger seat were loose and making a noise. I wrapped them in a towel and restowed them and it solved the issue  

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I found that on my 88 Cherokee that there is bump stops on the lift gate that will unscrew just a few turns to keep the rear lift gate from thumping.  

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Check to make sure the rear shocks are physically bolted tight.  

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If you have a tow package the removeable hitch has play and will rattle some  

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I had a rattle problem... sounded like it was coming from below the passenger seat. Turned out being a weak exhaust bracket that bent on the passenger side of the transmission and the exhaust pipe was bouncing off a frame. the bracket slides into a rubber mount that is fixed to the tranny, and the other end is welded to the exhaust pipe. without cutting the bracket off, or replacing the exhaust, the only other option is to heat the bracket and bend it up to raise the exhaust pipe another 1/2". Fixed the Problem.