\usepackage{pstricks,pst-node}

\begin{pspicture}(-.5,-.4)(3.5,.4)%
%
\cnode*(0,0){3pt}{S1}\uput{5pt}[l](0,0){$1$}%
\cnode*(3,0){3pt}{S2}\uput{5pt}[r](3,0){$2$}%
%
% Tracé des liens
\ncarc[arcangle=30]{-}{S1}{S2}%
\ncarc[arcangle=30]{-}{S2}{S1}%
%
\end{pspicture}

\usepackage{pstricks,pst-node}%

\begin{center}%
\begin{pspicture}(-.5,-1.4)(10,1.4)%
%
\cnode*(0, 0){3pt}{S1}\uput{5pt}[l] (0, 0){$1$}%
\cnode*(2, 1){3pt}{S2}\uput{5pt}[ur](2, 1){$2$}%
\cnode*(2,-1){3pt}{S3}\uput{5pt}[dr](2,-1){$3$}%
%
% Tracé des liens commentés
\ncline{-}{S1}{S2}\Aput[.1]{$P(A,\vec{x}_1)$}%
\ncline{-}{S1}{S3}\Bput[.1]{$G(\vec{x}_1)$}%
\ncline{-}{S3}{S2}\Bput[.1]{$H(A,\vec{x}_1)$}%
%
% La légende
\rput[l](5,0){%
\begin{tabular}{|c|l|}
\hline
\small{$P$}&{\small Pivot \textit{d'axe (Dte)}}
\\
\hline
\small{$G$}&{\small Glissière \textit{suivant (Vec)}}
\\
\hline
\small {$H$}&{\small Hélicoïdale \textit{d'axe (Dte)}}
\\
\hline%
\end{tabular}}%
%
\end{pspicture}%
\end{center}%

\usepackage{pstricks,pst-node}%

\psset{unit=.6cm}%
%
\begin{pspicture}(-.4,-.4)(2.4,2.4)%
%
\cnode*(1,0){3pt}{S1}\uput{5pt}[d](1,0){$1$}%
\cnode*(2,1){3pt}{S2}\uput{5pt}[r](2,1){$2$}%
\cnode*(1,2){3pt}{S3}\uput{5pt}[u](1,2){$3$}%
\cnode*(0,1){3pt}{S4}\uput{5pt}[l](0,1){$4$}%
%
\ncline{-}{S1}{S2}%
\ncline{-}{S2}{S3}%
\ncline{-}{S3}{S4}%
\ncline{-}{S4}{S1}%
%
\end{pspicture}%

\psset{unit=1cm}%
% Recopier le code précédent...

\psset{unit=1.4cm}%
% Recopier le code précédent...

\usepackage{pstricks,pst-node}%

\begin{pspicture}(-1.2,-1.2)(1.2,1.2)%
%
SpecialCore%
%
\cnode*(1; 18){3pt}{S1}\uput{5pt}[ 18](1; 18){$1$}%
\cnode*(1; 90){3pt}{S2}\uput{5pt}[ 90](1; 90){$2$}%
\cnode*(1;162){3pt}{S3}\uput{5pt}[162](1;162){$3$}%
\cnode*(1;234){3pt}{S4}\uput{5pt}[234](1;234){$4$}%
\cnode*(1;306){3pt}{S5}\uput{5pt}[306](1;306){$5$}%
%
\ncline{-}{S1}{S2}%
\ncline{-}{S2}{S3}%
\ncline{-}{S3}{S4}%
\ncline{-}{S4}{S5}%
\ncline{-}{S5}{S1}%
%
\end{pspicture}%

\usepackage{pstricks,pst-node}%

\psset{xunit=1.5cm,yunit=1cm}%
%
\begin{pspicture}(0,0)(4,2)%
%
\cnode*(0,1){3pt}{S1}%
\cnode*(1,2){3pt}{S2}%
\cnode*(1,1){3pt}{S3}%
\cnode*(1,0){3pt}{S4}%
\cnode*(2,2){3pt}{S5}%
\cnode*(2,1){3pt}{S6}%
\cnode*(2,0){3pt}{S7}%
\cnode*(3,2){3pt}{S8}%
\cnode*(3,1){3pt}{S9}%
\cnode*(3,0){3pt}{S10}%
\cnode*(4,1){3pt}{S11}%
%
\ncline{-}{S1}{S2}%
\ncline{-}{S1}{S3}%
\ncline{-}{S1}{S4}%
\ncline{-}{S2}{S5}%
\ncline{-}{S3}{S6}%
\ncline{-}{S4}{S7}%
\ncline{-}{S5}{S8}%
\ncline{-}{S6}{S9}%
\ncline{-}{S7}{S10}%
\ncline{-}{S8}{S11}%
\ncline{-}{S9}{S11}%
\ncline{-}{S10}{S11}%
%
\end{pspicture}%

\usepackage{pstricks}

\repere
{$\vec z_2=\vec z_1$}
{$\vec x_1$}{$\vec y_1$}{black}
{$\vec x_2$}{$\vec y_2$}{blue}
{$\alpha$}{1}

\begin{tabular}{lc}
Cinématique & $\mathcal{V}(i/k)$\\
Actions mécaniques & $\mathcal{F}(k\sur i)$\\
Cinétique & $\mathcal{C}(i/Rg)$\\
Dynamique & $\mathcal{D}(i/Rg)$
\end{tabular}

\[
\torseur{V}{2/1}{A}
{\dot\alpha\vec z_1}
{\vec 0}
\]

\[
\torseur{F}{3\sur 4}{C}
{\vec R(3\sur 4)}
{\vec 0}
\]

\[
\torseur{C}{\Sigma/Rg}{}
{\vec P(\Sigma/Rg)}
{\vec\sigma(Q,\Sigma/Rg)}
\]

\[
\torseur{D}{\Sigma/Rg}{}
{m\vec A(G,\Sigma/Rg)}
{\vec\delta(Q,\Sigma/Rg)}
\]