In general, in dynamic analysis of mechanical systems, joints are assumed to be ideal. However, due to errors in fabrication and assembly of components, existence of joints clearances is an inevitable issue that caused frequent collisions between the journal and bearing and stable periodic behavior of system becomes chaotic. Degradation the dynamic performance of the system, reduction in fatigue life of components and produce undesirable vibrations are all of the factors resulted from impact- contact forces due to joint clearance. First, different contact force models for two surfaces has been introduced and dynamical models of revolute joint with clearance for two modes, namely, dry contact model and lubricated joint model is then presented. In this paper, the dynamic behavior of a slider- crank mechanism with a revolute joint clearance between the slider and connecting rod, using the Lankarani-Nikravesh contact force model is studied and compared to the ideal case. Considering the effect of friction between journal and bearing, governing equations of motion of the system for two phase, contact and non-contact modes are extracted and it is shown that system exhibits chaotic behavior under specified size of clearance. A fluid lubricant is used in clearance between journal and bearing for stabilizing an unstable periodic orbit embedded in the chaotic attractor.