The cylindrical normal contact between a rotational flexible body and a fixed cylindrical groove was investigated. The impact dynamic equations were established by hybrid coordinate formulation and absolute nodal coordinate formulation based on Goldsmith cylindrical contact model, in which geometric nonlinearity was taken into account.Considering the nonlinear damping terms,Hunt Crossley damping model was successfully developed to cylindrical contact.Experiment technique for the cylindrical normal contact was introduced.It is shown that the simulation results agree well with the experiment results in the case that the damping effect is taken into account. Furthermore, the impact force obtained by the present absolute nodal coordinate formulation was compared with that obtained by hybridcoordinate formulation, in which small deformation was assumed. Comparison with the experiment results indicates that the present absolute coordinate model is more suitable for calculation of contactimpact with large deformation.