Centroid: center of gravity or center of mass. Object is in state of equilibrium if balanced along its centroid
Moment of Inertia: Stiffness of an object related to its shape. A higher Moment of Inertia produces a greater resistance to deformation.
Modulus of Elasticity: The ratio of the increment of some specified form of stress to the increment of some specified form of strain. Also known as coefficient of elasticity, elasticity modulus, elastic modulus. This defines the stiffness of an object related to material chemical properties. In general, a higher modulus of elasticity produces a greater resistance to deformation.
Free Body Diagram - Imagine you are "removing" the object in question from its surroundings and just looking at all of the External Forces applied to the "body"
A.2.2.1 - Introduction to Material PP for review and expansion on the the listed terms.