In this investigation, the effect of revolute joints’ clearance on the dynamic performance of mechanical systems is reported. A computation algorithm is developed with the aid of SolidWorks/CosmosMotion software package. A slider-crank mechanism with one and two clearance-joints is studied and analyzed when working in vertical and in horizontal planes. The simulation results point out that the presence of such clearance in the joints of the system understudy leads to high peaks in the characteristic curves of its kinematic and dynamic performance. For a multiclearance joints mechanism, the maximum impact force at its joints takes its highest value at the nearest joint to the input link. This study also shows that, when the mechanism works in horizontal plane, the rate of impacts at each clearance-joint increases and consequently the clearance-joints and actuators will deteriorate faster.