A great number of studies have shown the complex nonlinear dynamics of mechanical systems with repeated normal impacts. An oblique frictional impact introduces even more complicated dynamics such as stick-slip motions to those systems. Hence, the dynamics of oblique vibro-impacting systems with possible sliding motion is an open problem. Based on a hybrid analysis of vibro-impact dynamics, kinematics and complementary conditions, a piecewise analysis method is developed in the paper to describe the sliding motion during an oblique impact. Thereby, a parametrically excited planar pendulum between two parallel rigid walls is studied as an illustrative example. The example, together with the corresponding numerical results, shows that the sliding impacts occur in such a system with a set of properly selected parameters.