Dynamic radiation force has been used in several types of applications, and is performed by modulating ultrasound with different methods. By modulating ultrasound, energy can be transmitted to tissue, in this case a dynamic force to elicit a low frequency cyclic displacement to inspect the material properties of the tissue. In this paper, different types of modulation are explored including amplitude modulation (AM), double sideband suppressed carrier amplitude modulation AM, linear frequency modulation, and frequency-shift keying. Generalized theory is presented for computing the radiation force through the short-term time average of the energy density for these various types of modulation. Examples of modulation with different types of signals including sine waves, square waves, and triangle waves are shown. Using different modulating signals, multifrequency radiation force with different numbers of frequency components can be created, and can be used to characterize tissue mimicking materials and soft tissue. Results for characterization of gelatin phantoms using a method of vibrating an embedded sphere are presented. Different degrees of accuracy were achieved using different modulation techniques and modulating signals. Modulating ultrasound is a very flexible technique to produce radiation force with multiple frequency components that can be used for various applications.