Roller gear cam (RGC) mechanisms are widely used in modern industries. While operated at high speeds, the indexing precision of these devices will be influenced by their dynamic characteristics. In this study, the Bond Graph Method is employed to construct a mathematical model to simulate the dynamic responses of RGC mechanisms. Meanwhile, associated experiments will be made to verify the effectiveness of this model. The influences of torque compensation mechanisms and different cam motion curves affecting the dynamic response of a RGC mechanism are observed. And the results show that the torque compensation mechanism is effective to the dynamic performance, and high-speed stability of a RGC mechanism. Besides, the simulated results also indicate that the kinematic properties of cam motion curves have certain influences on the residual vibrations of the system.