A system for separating support structure from a three-dimensional (3D)-printed component integrally printed with the support structure during an additive manufacturing (AM) process includes one or more transducers, indexing features configured to engage the transducer(s) and position the transducer(s) in contact with the support structure, and an electronic control unit (ECU). The ECU activates the transducer(s) which then vibrate at a predetermined resonant frequency of the support structure until the support structure fractures. A method includes engaging a transducer with an indexing feature, positioning the indexing feature with respect to the support structure such that the transducer is in contact with the support structure, and activating the transducer during a post-processing stage of the AM process, via the ECU, to cause the transducer to vibrate at the predetermined resonant frequency until the support structure fractures or breaks.