We consider a system of two masses connected by linear springs and in contact with a belt moving at a constant velocity. One of the masses can collide with a fixed rigid obstacle. The contact forces between the masses and the belt are given by Coulomb’s laws. Moreover, when the colliding mass is in contact with the obstacle, we assume that a perfect elastic impact occurs. Several periodic orbits including contact against the fixed obstacle followed by slip and stick phases are obtained in analytical form.