Lithium isn't considered a rare earth element, although it is relatively rare compared to, say, lead.
From Wikipedia: However, according to a 2011 study conducted at Lawrence Berkeley National Laboratory and the University of California Berkeley, the currently estimated reserve base of lithium should not be a limiting factor for large-scale battery production for electric vehicles, as the study estimated that on the order of 1 billion 40 kWh Li-based batteries could be built with current reserves.[85] Another 2011 study by researchers from the University of Michigan and Ford Motor Company found that there are sufficient lithium resources to support global demand until 2100, including the lithium required for the potential widespread use of hybrid electric, plug-in hybrid electric and battery electric vehicles. The study estimated global lithium reserves at 39 million tons, and total demand for lithium during the 90-year period analyzed at 12–20 million tons, depending on the scenarios regarding economic growth and recycling rates.[1]
Of course, lithium isn't the only element we can use to make batteries.
Note, I'm not making a claim one way or the other on the feasibility, just stating that resources don't appear to be a limiting factor for the next ~life-time.
1. http://en.wikipedia.org/wiki/Lithium