The extended framework of Hamilton's principle provides a new rigorous weak variational formalism for a broad range of initial boundary value problems in mathematical physics and mechanics in terms of mixed formulation. Based upon such framework, a new variational numerical method of linear elasticity is provided for the classical single-degree-of-freedom dynamical systems. For the undamped system, the algorithm is symplectic with respect to the time step. For the damped system, it is shown to be accurate with good convergence characteristics.