A pear cam and roller follower system is studied for distinct values of cam rotational speeds. Different values of clearance (C = 1, 1.5, and 2 mm) are used. SolidWorks is used for the numerical analysis. The largest Lyapunov exponent was calculated for the mechanism and the non-periodic motion is analyzed for different clearances and angular speeds. The displacement of follower motion is processed using OPTOTRAK / 3020 with a 3-D infrared sensor experimentally. The system with clearance C = 2 mm has largest value of (LLE) at N = 400 rpm, while the lowest value of (LLE) is at N = 100 rpm at the same value of angular speed.