This study is intended to analyze dynamic behavior of beams on Pasternak-type viscoelastic foundation subjected to time-dependent loads. The Timoshenko beam theory is adopted in the derivation of the governing equation. Ordinary differential equations in scalar form obtained in the Laplace domain are solved numerically using the complementary functions method to calculate exactly the dynamic stiffness matrix of the problem. The solutions obtained are transformed to the real space using the Durbin's numerical inverse Laplace transform method. The dynamic response of beams on viscoelastic foundation is analyzed through various examples.