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中文摘要：
有大全面旋转运动与一个僵硬斜坡影响的一根灵活横梁在这篇论文被学习。倾斜的影响引起的正切的磨擦力量被分析。系统的正切的运动被划分成一个棍子状态和一个 slip 状态。接触限制模型和库仑磨擦模型分别地被使用处理二个状态。基于这个混合建模方法，系统的动态方程，包括所有状态，) 被获得。一个具体例子的模拟结果与从二个另外的模型获得的结果相比：一个 nontangential 磨擦模特儿和修改库仑当模特儿。在从三个模型的结果的差别被讨论。当倾斜的影响发生时，正切的磨擦力量不能被忽略。另外，从模型获得的结果在这建议纸与真实运动更一致。
英文摘要：
A flexible beam with large overall rotating motion impacting with a rigid slope is studied in this paper. The tangential friction force caused by the oblique impact is analyzed. The tangential motion of the system is divided into a stick state and a slip state. The contact constraint model and Coulomb friction model are used respectively to deal with the two states. Based on this hybrid modeling method, dynamic equations of the system, which include all states（before, during, and after the collision）are obtained. Simulation results of a concrete example are compared with the results obtained from two other models： a nontangential friction model and a modified Coulomb model. Differences in the results from the three models are discussed. The tangential friction force cannot be ignored when an oblique impact occurs. In addition, the results obtained from the model proposed in this paper are more consistent with real movement.
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