A procedure is developed in this investigation to study the propagation of impact-induced axial waves in the constrained
beams that undergo large rigid body displacements. The solution of the wave equations is obtained using the Fourier
method. Kinematic conditions which describe mechanical joints in the system are formulated using a set of nonlinear
algebraic constraint equations that are introduced to the dynamic formulation using the vector of Lagrange multipliers.
The initial conditions which represent the jump discontinuity in the elastic coordinates as the result of impact are
predicted using the generalized impulse momentum equations that involve the coefficient of restitution as well as the
Jacobian matrix of the kinematic constraints. The convergence of the series solutions presented in this paper is examined
and the analytical and numerical results are found to be consistent with the solutions obtained by the use of the classical
theory of elasticity in the case of plastic impact. The cases in which without and with the gravity are also examined and it
is shown that the generalized impulse momentum equations can be used with confidence to study the propagation of
elastic waves in applications related to multibody dynamic systems.