Cylindrical friction (CYLF) joints subjected to impact-induced wave (IIW) loading are studied theoretically and experimentally. The system considered consists of a long, straight, cylindrical and linearly elastic rod which is impacted axially at one end by a cylindrical and linearly elastic hammer. A body is attached at the other end by means of a CYLF joint. The conditions are such that the wave propagation is 1-D in the hammer and the rod and can be neglected in the attached body which is therefore treated as rigid. The agreement between numerical and analytical solutions is good. There is also fair agreement between theoretical and experimental results.