Hexarot is a type of the axisymmetric parallel mechanisms which has become increasingly popular. One of the challenges in hexarots is to analyze their vibration. In this paper, the motion equation of hexarot mechanisms is addressed presented based on the virtual work principle and the forced vibration analysis of the manipulator is investigated. The modeling considers the base motion in the flexible mechanism. SimMechanics is used for numerical simulations to investigate the dynamic model. Eventually, the end effector response has been illustrated for different frequencies.