The paper presents the dynamic stability of a flexible shoe in drum brake systems subjected to a frictional force. The frictional force between the drum and the shoe is assumed as a distributed frictional force, while the shute is modeled as an elastic beam supported by two translational springs at both ends and elastic foundations. Governing equations of motion are derived by energy expressions, and their numerical results are obtained by employing the finite element method. The critical distributed frictional force and the instability regions are demonstrated by changing the stiffness of two translational springs and elastic foundation parameters. It is also shown that the beam loses its stability by flutter and divergence depending on the stiffness of elastic supports and elastic foundation parameters. Time responses of beams corresponding to their instability types are also demonstrated.