A new discontinuity-induced bifurcation, referred to as nonsmooth Hopf-type bifurcation, observed in a nonautonomous impacting hybrid systems in R⁴ is presented. The system studied models the bouncing motion, repeated instantaneous impacts with friction, in rotating machines with magnetic bearing support. At the nonsmooth Hopf-type bifurcation point a stable regular equilibrium and two unstable small amplitude 1-impact periodic orbits arise. The existence of this bifurcation scenario depends on a complex relationship between damping, the restitution, and the friction coefficient.