The penis can be rubbed, jammed, hurt, dislocated and even broken. In fact, penile fracture is nothing else but rupture of cavernous bodies, albuginea and sometimes urethra. This is the most severe trauma of the male genital organ. Although penile fractures occur in medical practice not so often, after all it is possible to break it and there are some common penile fracture causes.
I guess if you were banging a chick really hard and slipped out and and then rammed it against her pelvis or something that might do it.