In a space frame, there exist in- and out-of-plane bending, axial, and torsional vibrations. The analysis of complex vibrations in such structures has relied mostly on numerical approaches. In this study, a wave-based analytical approach is applied to obtain solutions to vibrations in space frames. Both free and forced wave vibration responses are obtained, with bending vibrations modeled using the Timoshenko theory. A two-story steel space frame is built to validate the analytical results, and good agreements have been reached between the analytical and experimental studies. The effect of torsional rigidity adjustment on the accuracy of predicted vibrational responses in structures involving rotationally nonsymmetric cross sections is also examined.