The paper develops a procedure for the dynamic analysis of a cam mechanism with bearing clearances. The analysis mainly relies on determining the clearance angles Bij and its first and second derivatives. The governing equations of each clearance angle are developed on the condition that the variations in displacements and velocities due to clearance effect are very small and could be ignored. Also, the equations of these clearance angles: are developed such that the common normal at the point of contact at each clearance connection coincides with the direction of the clearance eccentricity vector which has the same direction of the normal reaction force at the point of contact. A straight sided cam operating a roller follower is considered to illustrate the procedure.