This work proposes a fluid-solid interaction model. It is formulated for a laminar flow modeled by the incompressible Navier-Stokes equations in which we consider the presence of a rigid moving solid. The model is formulated inside an immersed boundary method based on a penalization technique. The penalization technique imposes the body effects on the flow. The velocity field is extended inside the solid region and a penalty term enforces the rigid motion inside the solid region. This technique offers a great flexibility to modify the geometry of the solid. The forces and angular momentum needed for the fluid-solid interaction model are computed with an innovative method suitable for the penalized equations method. The method is validated successfully for an oscillating airfoil in large flapping motion. Effects of different geometries on aerodynamic coefficients can then be explored. The fluid-solid interaction model is also verified for solid motions governed by the flow, such as falling cylinder and plate.