The primary intention of this research is to develop the mathematical models and simulation techniques for two-axis ball-on-plate mechanism. The research includes planning of entire system, calculating the required torques of two motors, deriving dynamic equations and dynamic simulations. The features of this research are the dynamic equations for describing the rolling, slipping and bouncing of the ball on the plate are derived. These nonlinear dynamic equations are then verified and used to observe the dynamic behaviors by using Simulink of Matlab. The dynamic equations and simulation techniques obtained in this research constitute a solid basis for the system design and control in the future.