This is a common problem with cameras. They can get bumped when the lens is out, and that can jam the gear assembly, or break a gear. I could run down all the things you can try to free it up, but there is a better web page that deals with issues like this. The page deals with error messages for the lens, but the beeping you hear is an error message, also. Follow their suggestions to try to free the lens up- maybe you'll get lucky. They say that, in about 50% of the cases, it can be fixed by trying their suggestions. Here's the site:
http://camerarepair.blogspot.com/2007/12/fixing-lens-error-on-digital-camera.html
If nothing works, make sure you get an estimate before getting the camera repaired. Sometimes the cost of repair justifies going ahead and purchasing a new camera, on sale, and is often less expensive than having it repaired. Good luck! Hope you get it working again!
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