This study investigates the free vibrations of elastically constrained shear and Rayleigh beams placed on the Pasternak foundation. Of particular interest, it is aimed to analyze the influence of shear strain, rotational inertia, elastic stiffness, and shear layer on the natural
frequencies and eigenmodes of beam vibrations. For this purpose, the eigenfrequencies and eigenmodes are determined using analytical and numerical techniques. A finite element scheme is developed employing quadratic and cubic polynomials for slope and transverse displacement, respectively. The efficiency and accuracy of the finite element method are illustrated by comparing it with the analytical results for generalized and special cases. The underlying model analysis justifies that the natural frequencies of the beam vibration depend only on the geometry of the Rayleigh beam, while these frequencies depend on the physical and geometric properties of the shear beam. However, the natural frequencies of the Euler-Bernoulli depend solely on the geometric conditions of the beam.