Pollard,H.F., 1977, "Sound Waves in Solids", Pion Ltd., London, pp.172-174 describes an ultrasonic experimental technique that measures resonant frequency amplitudes in a brass rod with length to diameter ratio of 158.83. Steel balls rolling down an inclined tube impacted the end of the bar for excitation. Your ultrasonic vibrator with a stinger rod presumably provides the needed excitation. "The detector consists of a variable capacitor connected into a resonant circuit which forms part of a crystal-controlled oscillator operating off-resonance as a slope detector...After amplification the output of the detector is fed into a wave analyzer whose response is recorded on a logarithmic level recorder. Frequencies of the resonant modes are located by driving the wave analyzer slowly through the appropriate frequency range while periodic impulses are applied to the specimen. For accuracy,individual resonant frequencies may be manually tuned to the peak response. A stable oscillator is switched into the wave analyzer and adjusted to give maximum response at the same setting of the analyzer. Frequency setting of oscillator is read on a frequency counter... Damping associated with each mode is found by measuring the decay rate at resonance." A figure shows 8 harmonics of the extensional resonance frequecy of the straight rod with the odd harmonics showing higher amplitudes than the even harmonics.
For extensional(longitudinal) modes, impact is on the end of the rod. For torsional and flexural modes, projecting lugs attached to the drive end are impacted while the detector electrode is mounted vertically over a similar lug at the same or other end of the specimen. In the frequency amplitude spectra, extensional and torsional harmonic peaks will be evenly spaced while flexural mode harmonics will be unequally spaced.
How do you know where the nodes in the S-shaped beam are located for support locations if you don't know what modes will be excited? For the shape-shaped beam, I would suspect that a complex combination of extensional, torsional and flexural modes may be excited simultaneously.