It is not too difficult to draw this sort of pictures. You may want to make yourself familiar with the calc syntax, which is described with many neat examples in section 13.5 of the pgfmanual. Further libraries which simplify things here are quotes
and angles
, and the arrows.meta
library lets you draw pretty much any arrow you can imagine.
\documentclass[tikz, margin=3.14mm]{standalone}
\usetikzlibrary{calc,angles,quotes,arrows.meta}
\tikzset{pill/.style={minimum width=1.2cm,minimum height=6mm,rounded
corners=3mm,draw},
reactor/.style={circle,draw,minimum size=6mm,path picture={
\draw (-3mm,0) -- (3mm,0) (0,-3mm) -- (0,3mm);
\fill (0,0) -- (3mm,0) arc(0:-90:3mm) -- cycle;
\fill (0,0) -- (-3mm,0) arc(180:90:3mm) -- cycle;
}}}
\begin{document}
\begin{tikzpicture}
\draw[thick,{Triangle[length=2mm]}-{Triangle[length=2mm]}] (0,6) coordinate (Y) -- (0,0) coordinate (O)-- (10,0)
coordinate (X);
\draw[thick,dashed] (O) -- (9.5,4.3) coordinate[pos=0.28] (F1) coordinate[pos=0.8] (F2) coordinate (TR);
\draw[thick,dotted] (O |- F2) node[left]{$x$} -- (F2) -- (O -| F2) node[below] {$y$};
\draw[thick] (F1) -- (F2) node[pos=0.55,sloped,reactor] (M){~}
node[pos=0,sloped,pill]{};
\draw[green!70!black,thick,-latex] (M.center) -- ($(M.center)!1cm!0:(F2)$)
node[above]{$U$};
\draw[green!70!black,thick,-latex] (M.center) -- ($(M.center)!1cm!90:(F2)$)
node[left]{$V$};
\draw[thick,dashed] (F2) -- ++ (48:2) coordinate(H) node[pos=0,sloped,pill,solid]{}
pic ["$\delta_f$",draw,solid,->,angle radius=1cm,angle eccentricity=1.3] {angle = TR--F2--H};
\draw[thick,red,-latex] (F2) -- ++ (62:2) coordinate (A2) node{$\alpha_f$}
pic [draw,solid,black,->,angle radius=1.3cm] {angle = H--F2--A2};;
\draw[thick,red,-latex] (F1) -- ++ (48:2) coordinate (A1)
pic ["$\alpha_r$",draw,->,red,thick,angle radius=1cm,angle eccentricity=1.3] {angle = F2--F1--A1};
\draw[->] let \p1=($(F2)-(F1)$),\n1={-180+atan2(\y1,\x1)},\n2={\n1+180} in
($($(M)!8mm!00:(F1)$)+({cos(\n1+90)*1mm},{sin(\n1+90)*1mm})$) arc(\n1:\n2:8mm)
node[midway,below,red]{$\omega_z$};
\draw[latex-] ($(F1)!1mm!-90:(M)$) -- ($(F1)!5mm!-90:(M)$) node[below]{$F_{\gamma r}$};
\draw[latex-] ($(F2)!1mm!90:(M)$) -- ($(F2)!5mm!90:(M)$) node[below]{$F_{\gamma f}$};
\draw[{Bar}{Latex}-{Latex}{Bar}] ($(F1)!1.5cm!90:(M)$) --
($(M)!1.5cm!90:(F2)$) node[midway,sloped,fill=white]{$L_r$};
\draw[{Bar}{Latex}-{Latex}{Bar}] ($(M)!1.5cm!90:(F2)$) --
($(F2)!1.5cm!-90:(M)$) node[midway,sloped,fill=white]{$L_f$};
\end{tikzpicture}
\end{document}

newtxmath
orbm
for example, you can use these commands within Inkscape text as well. i.e., the fonts and symbols will be uniform across your tex document and inkscape figures). – Troy Aug 12 '18 at 13:59