There are ways to get around all the engineering. For front end loaders and other equipment, you hunt around, taking notes from factory designs. They did all the figuring for you, no use re-inventing the wheel. After awhile you will have a general idea what works on what size tractor/FEL such as thickness of the bucket, size of the arms, etc.
If you want to put a beam in your garage to lift something, you can get ideas for that from gantry crane designs and their ratings and spans.
If you want to put steel in a structure, I stay away from that. I know it's done all the time, but if I had a major project I would need a building permit and it would have to be inspected. They would not pass any steel in the structure unless it came in a kit from the factory that way, or it had a engineer's stamp. Steel is very expensive, so I do not see the purpose of using steel in a structure unless you happen to have it laying around for free. Any steel I put in the building for lifting purposes would go in AFTER the final inspection.