This paper deals with steady-state response of a continuous system with nonlinear boundary conditions which are motion-limiting constraint. An analytical method of approximate solution for the continuous system with unsymmetrical collision characteristics in which the beam end collides with a stop once in one period of its vibration is presented. Some numerical results of the approximate solution are shown. Contrary to the case of continuous system with symmetrical collision characteristics, the resonance curves of nonlinear response of approximate solution are shown as discontinuous line. Some numerical results of a continuous system with no hysteresis damping are compared with those of a continuous system with hysteresis damping and a single-degree-of-freedom system.