A beamforming array technique with four sensors is applied to a cylindrical geometry for detecting point of impact. A linear array of acoustic sensors attached to the plate record the waveforms of Lamb waves generated at the impact point with individual time delay. A beamforming technique in conjunction with an optimization scheme that incorporates the direction dependent guided Lamb wave speed in cylindrical plates is developed. The optimization is carried out using the experimentally obtained wave speed as a function of propagation direction. The maximum value in the beamforming plot corresponds to the predicted 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 and a cylindrical composite shell. For randomly chosen points of impact the beamforming technique successfully predicts the location of the acoustic source.