A rotor system supported by an angular ball bearing displays very complicated non-linear behaviour due to non-linear Hertzian contact force. The non-linear force and moment caused by the ball bearing are calculated on the basis of the relationship between deflection, and five-degree-of-freedom dynamic equations of the rotor ball bearing system are established. The Newmark-β method and the Newton—Raphson method are used to solve the non-linear equations. The dynamic characteristics of angular ball bearings are computed, considering the non-linear vibration of the rotor system. Taking angular ball bearing QJS208ACQ4C1/HNP4 as an example, the effects of the vibration of the rotor system on bearing dynamic characteristics are analysed. The results show that the spin-to-roll ratio of balls, the slide ratio of the cage, and stiffness of the bearing all vary obviously with the non-periodic vibration range of the rotor; initial contact angle and axial load of the ball bearing change the non-linear dynamic nature of the rotor system and dynamic characteristics of the bearing. The rotor ball bearing system can work stably by choosing the structural and operation parameters reasonably.