This book deals with the analysis of engineering structures made of skeletal members and covers the type of structures that are commonly used in practice. It builds up on the subject matter dealing with matrix algebra, analysis of bar elements, special forms of members, stability and vibration of structures, and pin-connected, rigid-plane, and 3D frames. It treats the important step of formulating the overall stiffness matrix of a structure in a systematic and straightforward manner and uses simple mathematical approaches wherever possible. The book is reader friendly, particularly for beginners who have no prior knowledge in this subject and can also be used as a textbook by undergraduate and postgraduate students studying for a degree in civil, structural, or mechanical engineering as well as by practicing engineers who have not studied this subject but are using software packages that deal with the analysis of engineering structures.