In this study, a 5-degrees-of-freedom dynamic model of variable lead preloaded single nut ball screw is proposed. The proposed model considers the effect of excitation amplitude, deflection angle, the number of balls, and the preload into consideration. Moreover, to study the effect of working parameters on nonlinear dynamics, bifurcation diagram, 3-D frequency spectrum, phase diagram and Poincaré section with different system parameters are shown in discussion section. The numerical analysis indicates that the system can exhibits different motion states, and the continuous frequency component can be observed. Moreover, a series of experiments are conducted to estimate the dynamic parameters and validate the proposed dynamic model.