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In order to investigate the behaviour of worm drives, a new dynamic model, composed of two blocks, is established and used to extract numerical results. The tooth deflection of the worm drive, bearings, and wheels inertias are taken into consideration. Newmark solving method is applied to solve motion equations. The state of contact of teeth is what enables these signals to manifest themselves. Modal analysis is developed to investigate the different natural modes of the model. Furthermore, modal energetic analysis is used to understand the distribution of strain and kinetic energies. It is also applied to classify natural models into “teeth modes” and “bearing modes”. These two modes constitute two different frequency bands. The dynamic coefficient is measured simultaneously with the gradual increase of the turning speed of the motor. This allows for the evaluation of the overload of the system.