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The Active Magnetic Bearing (AMB) technology is introduced in the High Temperature Reactor-Pebble-bed Modules (HTR-PM) demonstration nuclear power plant, which is being constructed in Shandong province, China. The auxiliary bearing is one of the most important components guaranteeing the reliability of the AMB. It also has an important impact on the reliability of the whole reactor system. Compared with the traditional auxiliary bearing, a novel one proposed by the authors has a smaller impact force and the rotor center orbit is much more concentrated during the rotor drop. This paper establishes an analytical model of drop of rolling-sliding integrated auxiliary bearing to analyze the above phenomena. Based on the Hertz contact theory, the complex structure inside the rolling bearing is simplified through a spring damping model. The overall impact model of the rolling-sliding integrated auxiliary bearing is established. Then, according to the structural characteristics of the rolling-sliding integrated auxiliary bearing, the tangential force inside the rolling- sliding integrated auxiliary bearing can be obtained by applying the angular momentum theorem. Finally, a four-degree-of-freedom horizontal rotor drop model is established to analyze and calculate the center orbit and motion state of the rotor. The analytical model is helpful in the selection and design of auxiliary bearing for AMB. In further research this contact model can be used to calculate the center orbit and contact forces in the application of the rolling-sliding integrated auxiliary bearing.