\documentclass[tikz,border=6mm]{standalone}
\usepackage{tikzphysics}
\begin{document}
\begin{tikzpicture}[font=\small]
  % A simply supported beam with an applied load.
  \pic (A) at (0,0) {pin-support};
  \pic (B) at (4,0) {roller-support};
  \draw[rod] (A-pivot) -- (B-pivot);
  \draw[force] (2,1) -- (2,0) node[pos=0,left] {$F$};
  \node[below] at (2,-1) {Supports and a rod};
  % A rolling body with independently styled vectors.
  \node[ground,minimum width=3cm] (G) at (7,-.75) {};
  \node[disk,anchor=south] (D) at (G.surface) {$M$};
  \draw[velocity] (D.north) -- ++(1,0) node[right] {$v$};
  \draw[torque] ($(D.center)+(130:1cm)$)
    arc[start angle=130,end angle=30,radius=1cm]
    node[right] {$\tau$};
  \node[below] at (7,-1.2) {Disk, velocity and torque};
  % Pic names prefix their coordinates; bob is a real node.
  \pic[pendulum length=2cm,pendulum angle=25] (P) at (11,1) {pendulum};
  \draw[dashed] (P-pivot) -- ++(0,-2.2);
  \draw[force] (P-bob.south) -- ++(0,-.8) node[below] {$mg$};
  \node[above] at (P-pivot) {Pendulum};
\end{tikzpicture}
\end{document}
