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\begin{figure}[ht]
\begin {center}
\begin{tikzpicture}
[UnitVector/.style={ultra thick,->},
force line/.style={very thick,->},
dashed line/.style={dashed, thin},
]
%vector
\coordinate (VectorBase) at (-2,2);
\draw[UnitVector] (VectorBase) -- +(1,0) node[above] {$\mathbf{i}$};
\draw[UnitVector] (VectorBase) -- +(0,1) node[right] {$\mathbf{j}$};
\draw[UnitVector] (VectorBase) -- +(-0.5,-0.5) node[right] {$\mathbf{k}$};
%Particle
\filldraw (0,0) circle (2pt);
\draw[force line] (0,0) -- (0,-1) node[right]{$\mathbf{W}$};
\draw[force line] (0,0) -- (-1,1) node[left]{$\mathbf{T}$};
\draw[force line] (0,0) -- (0,1) node[right]{$\mathbf{F}$};
\draw[force line] (0,0) -- (1,0) node[right]{$\mathbf{N}$};
\draw (0,0.4) arc (0:180:0.2);
\draw (2,1)[->]node[anchor=south west]{$\arctan\tfrac{4}{3}$}--(-0.2,0.3);
\end{tikzpicture}
\caption{Force diagram for cylinder.}
\label{F:ForceDiagramCylinder}
\end{center}
\end{figure}