Experimental modal analysis has been widely used to identify the modal parameters of structures and reduce vibration. Mainly, it is based on frequency domain identification. Recently, a time domain technique has been proposed. This technique usually utilizes the FFT analyzer to condense the data, which is then inversely transformed to obtain the impulse responses. The main defect is the conversion error caused by the FFT calculation. This paper introduces a pure time domain technique. Impulse responses are calculated from the consecutive hammering force and response, and are then averaged to reduce experimental noise and error. The characteristic poles in the z-domain are calculated from these impulse responses and converted into the s-domain. The vibrating modes are determined so as to fit the response with the linear summation of the normalized responses of the identified poles. The proposed technique is applied and its accuracy is tested.