In this paper an analytical model is proposed to study the nonlinear dynamic behavior of rolling element bearing systems including surface defects. The contact force of each rolling element described according to nonlinear Hertzian contact deformation and the effect of internal radial clearance has been taken into account. Mathematical expressions were derived for inner race, outer race and rolling element local defects. A modified Newmark time integration technique was used to solve the equations of motion numerically. The peak to peak frequency response of the system for each defect is obtained and the basic routes to periodic, quasi periodic and chaotic motions are determined. The current study provides a powerful tool for design and health monitoring of machine systems.

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