In this study a planar mechanism with a rotating sliding joint is investigated. Periodic behavior is observed for zero clearance of the sliding joint. The sliding joint with clearance is modeled using a kinematic coefficient of restitution and a coefficient of friction. Nonlinear dynamics tools are applied to analyze the simulated data captured from the connecting rod of the mechanism. The stability of the motion is studied using the Lyapunov exponents. The largest Lyapunov exponents will be considered as a stability index for the chaotic behavior of the system with slider clearance. The chaotic behavior is studied for different clearances of the sliding joint and different angular velocities of the crank.