Command shaping is an important method to reduce vibration in flexible beam. This paper presents a very simple command control shaping which eliminates multiple mode residual vibration in a flexible beam in finite time. The command is constructed by solving linear equations. The finite time duration in which the desired motion of joint angle is achieved along with elimination of the residual vibration can be arbitrarily specified. The necessary conditions for using command as a reference input for the joint angle in a closed-loop configuration are also discussed. The effectiveness of Proposed scheme is demonstrated through computer simulation.