The complex nonlinear dynamics of a rotor-rolling bearing system with crack is built by dynamic simulation software ADAMS. The transverse vibration response and swing response of rotor are studied on the basis of considering both the nonlinear contact force of rolling bearing and the impact of stiffness caused by crack. Furthermore, the influence factors of transverse vibration response are researched including speed, crack depth, crack angle and eccentricity. The simulation analysis demonstrated that it is an effective method to solve nonlinear dynamics of rotor-rolling bearing system with crack based on virtual prototyping technology. It provides a new method of feasibility study for fault diagnosis in the future.