Numerous individuals helped with the preparation of the first and second editions of this book. In particular, I (Chris Hendrickson) wish to acknowledge Burcu Akinci, William J. Hall, Paul Christiano, Steven Fenves, Daniel Rehak, Debbie Scappatura, and Shirley Knapp. Iavor Kostov, Tommy Hendrickson, Curt Yeske and In-Soo Jung were instrumental in developing the web version of this book. This book also reflects the contributions of numerous students and colleagues in industry who have challenged me with problems and shared their own ideas and experience over many years. I am grateful to all of these individuals.

Chris Hendrickson


Having accepted the opportunity and the privilege of updating, revising, and moving this book to a new platform, I wish to acknowledge the more important contributions of my predecessors in this project, particularly, Chris Hendrickson, the first and primary author of this text that has well withstood the test of time. Chris created something with lasting impact, and we are all just building on it.

I also wish to acknowledge the support of my family during this endeavor, especially my wife, Jennifer, for her guidance, support and suggestions. Suggestions, guidance, and related course support materials were contributed by:

  • Abbey Colucci, Open Education and Instructional Design (OEID) Librarian, University of Waterloo
  • Krista Godfrey, Head, Digital Initiatives, University of Waterloo Library
  • Lauren Byl, Copyright & Licensing Librarian, Collection Development, Dana Porter Library, University of Waterloo
  • Ryan Ball (he/him), Science & Engineering Librarian, University of Waterloo Library
  • Cole Burden, URA in Civil and Environmental Engineering, University of Waterloo

Carl Haas