The presence of clearances is inevitable in practical mechanisms. Components are designed to maintain optimal clearances between mating parts, enabling relative motion. There is extensive literature available on U-Joints from manufacturing tolerances perspective. In this work the emphasis is on clearances specifically existing between a yoke and trunnion, which affects the input/output motion characteristics. More specifically, the focus is on bifurcation analysis of systems with clearances between the yoke and crosspiece. To the best of authors knowledge literature is limited in this area. So, this effort will shed light on non-linear characteristics of motions in U-Joints. Clearances in U-Joint are categorized into axial and rotational type. Here we chose to explore the bifurcation characteristics associated with pure rotational type clearances and the effect of U-Joint inclination angle on the dynamical behavior of clearance between the yoke and the crosspiece of U-Joint. Several period-doubling route to chaos within a range of clearance sizes are observed. Other interesting bifurcations such as interior, boundary and basin-boundary crisis are also observed as a function of clearances.