A methodology to nondestructively locate and estimate size of damage in beam-type structures using a few natural frequencies or a few mode shapes is presented. A damage-localization algorithm to locate damage from changes in natural frequencies and a damage-sizing algorithm to estimate crack-size from natural frequency perturbation are outlined. A damage index algorithm to localize and estimate severity of damage from monitoring changes in mode shapes is outlined. The frequency-based method and the mode-shape-based method are evaluated for several damage scenarios by locating and sizing damage in PS concrete beams lot which a few natural frequencies and mode shapes are generated from finite element models. The result of the analyses indicates that the two methods correctly localize and closely estimate the size of the crack simulated in the test beam.