This paper is concerned with the development of the piezoelectric energy harvesting(PEH) device for ubiquitous sensor node(USN). The USN needs auxiliary power to lengthen its operational life. In this study, the piezoelectric energy harvesting system consisting of a cantilever with a tip mass and piezoelectric wafer was investigated in detail both theoretically and experimentally. The dynamic model for the addressed system was derived using the assumed mode method. The resulting equations of motion were expressed in matrix form, which had never been developed before. The power output characteristics of the PEH was then calculated and discussed. Various experiments were carried out to investigate the charging characteristics of electrical components. Theoretical and experimental results showed that the PEH was able to charge a battery with ambient vibrations but still needed an effective mechanism which can convert mechanical energy to electrical energy and an optimal electric circuit which dissipates small energy.