You mentioned the thought experiment for time. If you're speaking of the 'light clock' thought experiment, then there is a direct analogue for length contraction. Imagine positioning a rigid rod on a moving rocket ship. Then, observers on the ship shine a light from below the rod to a mirror above. The length of the rod can be calculated in this frame by multiplying the speed of light by the time elapsed from the shining of the light until the impact with the mirror. Observers floating in empty space at rest can also do this calculation. However, due to the relativity of time, they both record different values for the elapsed time. Hence, they calculate different lengths.
Keep in mind that you can derive the formula for length correction without making any reference to time dilation, but I used it for my explanation because you already understand TD.
Regarding relativistic energy and mass, read this:
http://math.ucr.edu/home/baez/physics/Relativity/SR/mass.html