The nonlinear dynamics of a slider-crank mechanism with a flexible rod is considered in this study. The flexible rod is modeled with lumped masses and periodically impacted by an external flexible sphere. The impact is modeled using a kinematic coefficient of restitution. Nonlinear dynamics tools are applied to analyze the simulated data captured from the connecting rod of the mechanism. The chaotic behavior of the system is analyzed. The stability of the motion is studied using the Lyapunov exponents. The dependence between the Lyapunov exponents and the corresponding angular velocity of the driver link of the mechanism is investigated.