Clutches are commonly utilised in passenger type and off-road heavy-duty vehicles to disconnect the engine from the driveline and other parasitic loads. In off-road heavy-duty vehicles, fuel efficiency and start-up functionality at extended ambient conditions, such as cold start-up and low intake absolute pressure are crucial. Off-road vehicle manufacturers usually overcome the parasitic loads in these conditions by oversizing the engine. Caterpillar Inc. as the pioneer in the off-road technology has developed a novel clutch design to allow for engine downsizing while vehicle’s performance is not affected. The tribology behaviour of clutch will be crucial to start engagement in time and reach the maximum clutch capacity in the shortest possible time and the safest method in terms of dynamics. A multi-body dynamics model of the clutch system is developed in MSC ADAMS. Flywheel carries the same speed and torque as engine and represents the engine input to the clutch. The hydraulic pressure behind the piston is applied as a single point force to allow for translation of components. The angular motion of plates is supported by friction torques between plates and friction linings. The conjunction between paper-based linings and steel plates are designed to be dry. Friction (the most significant tribological feature of the linings in torque transmission) is measured in a pin-on-disc tribometer and mapped into the dynamics model in MSC ADAMS. The pin-on-disc tribometer is able to map the variation of friction coefficient with contact pressure and sliding velocity. The surface topography is carried out during measurements to investigate the consistency of surface properties. The normal pressure and tribology of contact determines the engagement time, clutch capacity and its dynamic behaviour.