This thesis explores vibration monitoring of infrastructure or machinery through an uncrewed aerial vehicle (UAV) also commonly referred to as a drone. The vibration signature of an object may be used to assess the health of that object. This thesis looks at the means of acquiring this vibration signature in hard-to-access and GPS-denied environments and does not focus on the actual health assessment of infrastructure and machinery. A simple lightweight vibration monitoring arm was developed and mounted onto a drone. This along with an imaging system guided the drone and vibration arm towards a fiducial marker on an artificial vibration target. The thesis work successfully was able to measure vibrations from a vibration target. Future work is required to increase automation, the performance of position and yaw control and vibration sensitivity.