There is nothing wrong with the structure you have in mind. It also allows for subcategories should that be required going forward.
You will, however, need to think about the mydomain.com/articles page. I would assume you're going to show a list of articles available somehow.
This type of structure allows for the use of breadcrumbs which is good for the user and also provides a good internal link structure, i.e. the home page getting the most links then the articles page then the articles themselves. To me that is exactly how it should be done.
The other links you mention i.e. about faq, etc should be footer links so within the boilerplate area. I would also include a privacy statement page. This helps in creditability.