Axial impact between a cylindrical striker of finite length and a long cylindrical bar, both of linearly viscoelastic materials, is considered under uni-axial conditions. General results are derived for the impact force, the particle velocity and the strain in the bar in terms of closed-contour integrals suitable for numerical evaluation. Such results are derived also for the transfer of momentum and energy from the striker to the bar. Numerical results for elastic and viscoelastic impact of a striker and a bar with different cross-sectional areas are compared. In viscoelastic impact, unlike elastic impact, the duration of impact may be finite but larger than two transit times for a wave front through the striker due to the for-mation of a tail after the main pulse. Furthermore, repeated contacts and separations of the striker and the bar may occur within a range of striker-to bar characteristic impedance ratios smaller than one. In viscoelastic impact, the duration of impact is at least as long and the momentum and energy transferred are at most as large as in elastic impact. Strains measured at three locations of a PMMA bar impacted by PMMA strikers of three different lengths agree well with the theoretical results.