The objective of this research was to recognize the hand gestures of Arabic Sign Language (ArSL) words using two depth sensors. The researchers developed a model to examine 143 signs gestured by 10 users for 5 ArSL words (the dataset). The sensors captured depth images of the upper human body, from which 235 angles (features) were extracted for each joint and between each pair of bones. The dataset was divided into a training set (109 observations) and a testing set (34 observations). The support vector machine (SVM) classifier was set using different parameters on the gestured words’ dataset to produce four SVM models, with linear kernel (SVMLD and SVMLT) and radial kernel (SVMRD and SVMRT) functions. The overall identification accuracy for the corresponding words in the training set for the SVMLD, SVMLT, SVMRD, and SVMRT models was 88.92%, 88.92%, 90.88%, and 90.884%, respectively. The accuracy from the testing set for SVMLD, SVMLT, SVMRD, and SVMRT was 97.059%, 97.059%, 94.118%, and 97.059%, respectively. Therefore, since the two kernels in the models were close in performance, it is far more efficient to use the less complex model (linear kernel) set with a default parameter.