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Detecting cosmological signals from the Epoch of Reionization (EoR) requires high-precision calibration to isolate the cosmological signals from foreground emission. In radio interferometery, perturbed primary beams of antenna elements can disrupt the precise calibration, which results in contaminating the foreground-free region, or the EoR window, in the cylindrically averaged power spectrum. For Hydrogen Epoch of Reionization Array (HERA), we simulate and characterize the perturbed primary beams induced by feed motions such as axial, lateral, and tilting motions, above the 14-meter dish. To understand the effect of the perturbed beams, visibility measurements are modeled with two different foreground components, point sources and diffuse sources, and we find different feed motions present a different reaction to each type of sky source. HERA's redundant-baseline calibration in the presence of non-redundant antenna beams due to feed motions introduces chromatic errors in gain solutions, which produces foreground power leakage into the EoR window. The observed leakage from vertical feed motions comes predominately from point sources around zenith. Furthermore, the observed leakage from horizontal and tilting feed motion comes predominately from the diffuse components near the horizon. Mitigation of chromatic gain errors will be necessary for robust detection of the EoR signals with minimal foreground bias, and this will be discussed in the subsequent paper.