The existing calculation methods of elastic contact force and dissipative damping force in various contact models were analyzed to evaluate their application domains.A universal contact model was presented to effectively describe the dissipative damping effects of different material and small clearance size for cylindrical conformal contact.The model describes contact force as the explicit function of contact depth and extends its range of application effectively to micro-clearance size and low coefficient of restitution.Basic numerical analysis was utilized to compare advantages and disadvantages of different contact forces by the exemplary crank-slider mechanism.The calculation results show that the proposed contact force model predicts higher contact stiffness for micro clearance and significant damping for low recovery coefficient.So it can provide a more comprehensive calculation model for dynamic analysis of mechanical system with a wider range of materials and sizes for clearance joint.