An analytical model of axisymmetric vibrations of hollow elastic circular cylinders with arbitrary boundary conditions is presented. Free vibrations of cylinders with free or fixed boundaries and forced vibrations of cylinders with specified non-uniform displacement or stress on the boundaries are considered. Three series solutions are used and each term in each series is an exact solution to the exact governing equations of motion. The terms in the expressions for components of displacement and stress are products of Bessel and sinusoidal functions and are orthogonal to each other. Complete sets of functions in the radial and axial directions are formed by terms in the first series and the other two, respectively. It is therefore possible to satisfy arbitrary boundary conditions. It is shown that two terms in each series are sufficient to determine several resonance frequencies of cylinders with certain specified boundary conditions. The error is less than 1% for free cylinders. Numerical results are also presented for forced vibration of hollow steel cylinders of length 10 mm and outer diameter 10 mm with specified normal displacement or stress. Excellent agreement with finite element results is obtained at all frequencies up to 1 MHz. Convergence of the series is also discussed.