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This study investigates dynamic behaviors of hypoid gear rotor systems under variable tidal current energy harvesting conditions through numerical simulations and experimental validation. The study examines dynamic responses of a hypoid gear rotor system induced by cyclical tidal current variations, which generate fluctuating loads and bidirectional rotational speeds in tidal energy conversion systems. Two hypoid gear pairs, modified through precise manufacturing parameters, are evaluated to optimize tooth contact patterns for bidirectional tidal loading conditions. A coupled torsional vibration model is developed, incorporating variable transmission error and mesh stiffness. Experimental validation of dynamic performances of hypoid gear pairs was conducted on a bevel gear testing rig, which can measure both torsional and translational vibrations across diverse tidal speed profiles. The experimental results demonstrate that second-order primary resonances exhibit heightened vibration intensity during flow-reversal phases. This phenomenon has significant implications for system power efficiency and acoustic emissions. The findings extend the current understanding of hypoid gear optimization for tidal energy-harvesting applications.