The problem of modeling a single-link flexible manipulator having a revolute joint, is rather complex. It involves complex interaction and coupling between the desired rigid body motion and the undesired flexible motion. Analysis is performed on a representative case study of a Pinned-Free Euler-Bernoulli beam with noncollocated sensors. Numerical method for accurate computation of the transfer function poles and zeros is proposed. Experimental investigations that have been carried out on a real laboratory model of a single link flexible manipulator is reported. This model consists of a prismatic beam free at one end and attached to a DC motor at the other end. Using a dual channel Dynamic Signal Analyzer DSA, the manipulator has been excited by a harmonic torque and the structural displacement at several locations have been measured using vibration accelerometer. The DSA curve fitting capability are used to determine the best fit estimate of the manipulator's experimental transfer function poles and zeros.