This paper focuses on the influence of radial internal clearance on the dynamics of a rolling-element bearing. In the beginning, the 2—Degree of Freedom (DOF) model was studied, in which the clearance was treated as a bifurcation parameter. The derived nonlinear mathematical model is based on Hertzian contact theory and takes into consideration shape errors of rolling surfaces and eccentricity reflecting real operating conditions. The analysis showed characteristic dynamical behavior by specific clearance range, which reflects others in a low or high amplitude and can refer to the optimal clearance. The experimental validation was conducted with the use of a double row self-aligning ball bearing (SABB) NTN 2309SK in which the acceleration response was measured by various rotational velocities. The time series obtained from the mathematical model and the experiment were analyzed with the recurrence quantification analysis.