In the previous paper, the characteristic equation for the three dimensional beam structures contained the rigid bodies and mass particles was introduced by using of the solutions of four kinetic differential equations, i. e. two bendings, torsion, and tension-compression. The orthogonality of the vector mode function composed of the four kinds of the shape functions was proved. In this paper, we investigate in the modal analysis method of the general three dimensional beam structures contained the rigid bodies and mass particles. We conduct the impact experiment, using the structure model constructed by a flat rigid deck with four legs same size as described in the previous paper. The transient responses of the model subjected to the concentrated impact force at the deck and the leg are calculated by the proposed modal analysis method. The theoretical results coinside with the experimental ones fairly well.