Andy,
I just caught this post and was gonna put a smartass answer about rod, reel, hook and bait.
My setup is about the same as you, get to do fishing when going to the beach with the family (no dedicated fishing outings with 3 kids 4 and under!).
What I usually do is cast out a big surf rod with some fresh caught cut bait and help my 4yo son with his rod (5'5 Shakespeare) and dead shrimp on a 1/0 circle.
This year I will have to handle the 3yo girl with her 4ft pink rod
In the past we've been quite successful with whiting, rat reds and of course hardheads!
