A general expression is developed from which the frequency equation for the vibration of a constrained beam with any combination of intermediate elastic or rigid supports, concentrated masses, and sprung masses can be found readily. The method also is extended to the case where the constraint is a continuous elastic foundation or uniformly distributed load of any length. This method requires only the knowledge of the natural frequencies and natural modes of the beam supported at the ends in the same manner as the constrained beam but not subjected to any of the constraints between the ends. The frequency equation is obtained easily and can be solved to any desired degree of approximation for any number of modes of vibration in a quick and simple manner. Numerical examples are given for a beam with one concentrated mass, for a beam with one sprung mass, and a continuous beam with one sprung mass.