A model is presented for the impact with friction of a flexible beam in translational and rotational motions. This model enables one to predict the rigid body motion as well as the elastic after the impact. The system of equations is written in the Lagrangean formalism using a set of coupled reference position and local elastic generalized coordinates. The model uses an experimental dynamic coefficient of friction and an experimental co-efficient of restitution. We introduce a finite number of vibrational modes to take into account the vibrational behavior of the beam during impact.