Hal received his B.S. degree in mechanical engineering at South Dakota School of Mines, he completed his Ph.D. in mechanical and aerospace engineering at Arizona State University, where he became a prestigious faculty member.

Subsequently, Texas Christian University requested his expertise to build their engineering program as the founding chair for T.C.U.'s inaugural engineering college. 

With numerous publications, Hal was considered top-notch in his field worldwide. As Professor Emeritus, he taught college engineering courses into his 80's, while enjoying spending time with family and friends, building stained glass clocks, and golfing.

He is survived by his wife Connie; his three children; two stepchildren; thirteen grandchildren; and two great grandchildren.

Memorial services were held at Dayspring Methodist Church. Donations in Hal's honor may be made through a scholarship contribution to the TCU Engineering Advisory Board Endowed Scholarship at TCU Advancement, TCU Box 297044, Fort Worth, TX 76129, or to the South Dakota School of Mines at 330 E. Kansas City St., Rapid City, S.D., 57701 in Dr. Harold Nelson's name.