a cantilever structure is pretty much any structure that extends out and is supported only on one end.
For example, say you have a beam that sticks out the side of a building to support a balcony, that is a cantilever beam.
These typically work by actually having the beam extend further into the building than it does out of the building. Say you have a beam that sticks out and hangs out 5 feet past the edge of the building, chances are that same beam also extends 8-10 feet into the structure of the building and is tied in by rivets, bolts, or welds. So the building acts like a big counterbalance on a seesaw.
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