The resonant response, including both vertical and pitching motions, of an undamped sprung mass unit moving over a series of simple beams is studied by a semi-analytical approach. For a sprung mass that is very small compared with the beam, we first simplify the sprung mass as a constant moving force and obtain the response of the beam in closed form. With this, we then solve for the response of the sprung mass passing over a series of simple beams, and validate the solution by an independent finite element analysis. To evaluate the pitching resonance, we consider the cases of a two-axle model and a coach model traveling over rough rails supported by a series of simple beams. The resonance of a train car is characterized by the fact that its response continues to build up, as it travels over more and more beams. For train cars with long axle intervals, the vertical acceleration induced by pitching resonance dominates the peak response of the train traveling over a series of simple beams. The present semi-analytical study allows us to grasp the key parameters involved in the primary/sub-resonant responses. Other phenomena of resonance are also discussed in the exemplar study.