no penetration contact is not support with beams in any analysis. Putin a solid and bond it to the beam an d set the contact between the object and the inserted solid is work around that may work. or mesh the beam in the area of contact as a solid.
someone else was doing this recently
this will be a very challenging analysis
would recommend stepping into this
a static analysis
static analysis with a load that is multiplied to get an equivalent force to dynamic
a linear dynamic impact analysis