A beamforming array technique with 4 sensors is applied to a cylindrical plate for detecting point of impact. Linear array of acoustic sensors attached to the plate record the waveforms of Lamb waves generated at the impact point with individual time delay. An optimization technique with an objective function is incorporated into the beamforming technique in order to deal with the direction dependent Lamb wave speeds in a cylindrical geometry. The optimization is carried out using the experimentally obtained wave speed as a function of propagation direction. The maximum point in beamforming plot with minimized objective function corresponds to the localized point of impact. The proposed technique is experimentally verified by comparing the predicted points with the exact points of impact on a cylindrical aluminum plate. For randomly chosen points of impact the beamforming technique successfully predicts location of the exact acoustic source.