In this paper, periodic motion in an oscillator moving on a periodically oscillating belt with dry friction is investigated. The conditions of stick and nonstick motions for such an oscillator are obtained in the relative motion frame, and the grazing and stick (or sliding) bifurcations are presented as well. The periodic motions are predicted analytically and numerically, and the analytical prediction is based on the appropriate mapping structures. The eigenvalue analysis of such periodic motions is carried out. The periodic motions are illustrated through the displacement, velocity, and force responses in the absolute and relative frames. This investigation provides an efficient method to predict periodic motions of such an oscillator involving dry friction. The significance of this investigation lies in controlling motion of such a friction-induced oscillator in industry.