Book excerpt: The book opens with a derivation of kinematically nonlinear 3-D continuum mechanics for solids. Then the principle of virtual work is utilized to derive the simpler, kinematically linear 3-D theory and to provide the foundation for developing consistent theories of kinematic nonlinearity and linearity for specialized continua, such as beams and plates, and finite element methods for these structures. A formulation in terms of the versatile Budiansky-Hutchinson notation is used as basis for the theories for these structures and structural elements, as well as for an in-depth treatment of structural instability.