The performance of many flexible systems can be improved by employing command shaping techniques to reduce machine vibration. The input shaping technique, in particular, has proven to be highly effective for a wide class of systems. While most real systems are multi-input systems, however, the method has primarily only been developed for single input systems. This paper presents an approach for designing multi-input shapers using an s-plane pole placement technique. Slightly more information about the system model is taken into account that has been traditionally done with input shaping designs. The input shaping sequences for all system inputs are solved for simultaneously, and the resulting designs lead to shorter impulse sequences than solving for input shaping sequences for each input independently of each other.