We present a mean-field theory numerical study of Tkachenko waves of a vortex lattice in trapped atomic Bose-Einstein condenstates. Our results show remarkable qualitative and quantitative agreement with recent experiments at the Joint Institute for Laboratory Astrophysics. We extend our calculations beyond the conditions of the experiment, probing deeper into the incompressible regime where we find excellent agreement with analytical results. In addition, bulk excitations observed in the experiment are discussed.