Trip to Oaska - Kyoto - Nara

Hello:

I will be travelling to Oaska in June for 5 days trip with my family and intend to travel 1 day to Kyoto/Nara

Day 1. Arrive Kansai Airport to Namba
Day 2. Sightseeing at Osaka
Day 3. Travel to Kyoto/Nara => Kiyomizu-dera temple , Fushimi-Inari-taisha temple , Arashiyama Bamboo Grove, deer park
Day 4. Travel to Universal studios park
Day 5. Shopping at Osaka
Day 6. Travel to Kansai Airport

May I know do I need a JR pass or normal tickets?