<p>The dynamic behavior of a compliant rolling-sliding contact system is theoretically analyzed using a cam-follower mechanism. The mechanism consists of a rigid cam (which provides a known periodic motion input) and a flexible follower with kinematic, contact, and friction non-linearities. A comprehensive kinematic and dynamic model of the system is developed using a combination of analytical and numerical formulations. To obtain the dynamic response of the system, the model simultaneously solves the kinematic and dynamic equations of the system, which involves computationally expensive steps. Alternatively, three simplified models are developed based on several approximations to reduce the computational effort. The best among the simplified models is identified by comparing the static and dynamic responses of the simplified models with those of the comprehensive model. Then, the non-linear dynamic response of the system is studied using frequency response plots and phase portraits, where the higher period and chaotic behavior are observed for the compliant system. Further, the contribution of the follower’s compliance to its dynamics is evaluated by comparing its response to that of a similar rigid system. Finally, the effects of varying the mean load, alternating load, and material damping on the dynamic response of the flexible system are analyzed. The work has presented a novel comprehensive dynamic model for the compliant mechanism integrating the complex geometry. In addition, a computationally simpler yet accurate alternative model has been identified. It is envisaged that the modeling framework devised in this article can be extended to more complicated systems to aid the evolution of faster and more robust digital twins.</p>