This paper presents the solution of the impact problem for a sliding/bouncing baton on flat and inclined planes subject to surface friction. The baton is assumed to have unilaterally constrained motion, which means one end slides on the ground while the other end collides with the ground. We use the impulse momentum approach and incorporate the impulse correlation ratio (ICR) hypothesis to solve the ground impact problem when the system has unilaterally constrained dynamics. Parametric investigations were carried out to examine the effect of the baton’s length and the inclined surface slope angle on the impulse correlation ratio. Numerical simulation and experiments were carried out to validate the model.