The impact of axiallyloaded Euler Bernoulli beam with arbitrary impact position was investigated. The model of the impact system was simplified to a model of discrete concentrated masses linked with elastic elements. Firstly, based on the theory of integral transform, the differential equation of the collision system, the boundary conditions and the continuity conditions were transformed with Laplace transformation. Then, the analytical solution of the stress wave in frequency domain was obtained.The numerical inverse method was demonstrated by using the inversion of Laplace transformation with Crump,and the dynamic response in time domain was obtained. Curves of impact force, bending stress as well as shear varying with time were obtained by applying a numerical example, and this method was verified by comparing its results with those by using the finite element method. Finally, the effects of impact position, axiallyload, impact mass, impact velocity and flexibility coefficient on the impact force was studied, and several useful conclusions were obtained.