diff --git a/gazebo/physics/simbody/SimbodyLink.cc b/gazebo/physics/simbody/SimbodyLink.cc
index 7f4cc98c89..09e9408081 100644
--- a/gazebo/physics/simbody/SimbodyLink.cc
+++ b/gazebo/physics/simbody/SimbodyLink.cc
@@ -440,11 +440,15 @@ ignition::math::Vector3d SimbodyLink::WorldAngularVel() const
 //////////////////////////////////////////////////
 void SimbodyLink::SetForce(const ignition::math::Vector3d &_force)
 {
-  SimTK::Vec3 f(SimbodyPhysics::Vector3ToVec3(_force));
+  auto wrench = this->simbodyPhysics->discreteForces.getOneBodyForce(
+    this->simbodyPhysics->integ->getState(), this->masterMobod);
+ 
+  // Set translational component
+  wrench[1] = SimbodyPhysics::Vector3ToVec3(_force);
 
   this->simbodyPhysics->discreteForces.setOneBodyForce(
     this->simbodyPhysics->integ->updAdvancedState(),
-    this->masterMobod, SimTK::SpatialVec(SimTK::Vec3(0), f));
+    this->masterMobod, wrench);
 }
 
 //////////////////////////////////////////////////
@@ -462,11 +466,15 @@ ignition::math::Vector3d SimbodyLink::WorldForce() const
 //////////////////////////////////////////////////
 void SimbodyLink::SetTorque(const ignition::math::Vector3d &_torque)
 {
-  SimTK::Vec3 t(SimbodyPhysics::Vector3ToVec3(_torque));
+  auto wrench = this->simbodyPhysics->discreteForces.getOneBodyForce(
+    this->simbodyPhysics->integ->getState(), this->masterMobod);
+ 
+  // Set rotational component
+  wrench[0] = SimbodyPhysics::Vector3ToVec3(_torque);
 
   this->simbodyPhysics->discreteForces.setOneBodyForce(
     this->simbodyPhysics->integ->updAdvancedState(),
-    this->masterMobod, SimTK::SpatialVec(t, SimTK::Vec3(0)));
+    this->masterMobod, wrench);
 }
 
 //////////////////////////////////////////////////
@@ -505,44 +513,69 @@ void SimbodyLink::AddForce(const ignition::math::Vector3d &_force)
 }
 
 /////////////////////////////////////////////////
-void SimbodyLink::AddRelativeForce(const ignition::math::Vector3d &/*_force*/)
+void SimbodyLink::AddRelativeForce(const ignition::math::Vector3d &_force)
 {
-  gzerr << "Not implemented.\n";
+  auto const worldForce = this->WorldPose().Rot().RotateVector(_force);
+  this->AddForce(worldForce);
 }
 
 /////////////////////////////////////////////////
 void SimbodyLink::AddForceAtWorldPosition(
-    const ignition::math::Vector3d &/*_force*/,
-    const ignition::math::Vector3d &/*_pos*/)
+    const ignition::math::Vector3d &_force,
+    const ignition::math::Vector3d &_pos)
 {
-  gzerr << "Not implemented.\n";
+  auto const relPos = this->WorldPose().Inverse().CoordPositionAdd(_pos);
+  this->AddForceAtRelativePosition(_force, relPos);
 }
 
 /////////////////////////////////////////////////
 void SimbodyLink::AddForceAtRelativePosition(
-    const ignition::math::Vector3d &/*_force*/,
-    const ignition::math::Vector3d &/*_relpos*/)
+    const ignition::math::Vector3d &_force,
+    const ignition::math::Vector3d &_relpos)
 {
-  gzerr << "Not implemented.\n";
+  auto const force = SimbodyPhysics::Vector3ToVec3(_force);
+  auto const position = SimbodyPhysics::Vector3ToVec3(_relpos);
+
+  this->simbodyPhysics->discreteForces.addForceToBodyPoint(
+    this->simbodyPhysics->integ->updAdvancedState(), this->masterMobod,
+    position,
+    force);
 }
 
 //////////////////////////////////////////////////
-void SimbodyLink::AddLinkForce(const ignition::math::Vector3d &/*_force*/,
-    const ignition::math::Vector3d &/*_offset*/)
+void SimbodyLink::AddLinkForce(const ignition::math::Vector3d &_force,
+    const ignition::math::Vector3d &_offset)
 {
-  gzlog << "SimbodyLink::AddLinkForce not yet implemented (issue #1478)."
-        << std::endl;
+  auto const worldForce = SimbodyPhysics::Vector3ToVec3(
+    this->WorldPose().Rot().RotateVector(_force));
+  auto const position = SimbodyPhysics::Vector3ToVec3(_offset - 
+    this->inertial->CoG());
+
+  this->simbodyPhysics->discreteForces.addForceToBodyPoint(
+    this->simbodyPhysics->integ->updAdvancedState(), this->masterMobod,
+    position,
+    worldForce);
 }
 
 /////////////////////////////////////////////////
-void SimbodyLink::AddTorque(const ignition::math::Vector3d &/*_torque*/)
+void SimbodyLink::AddTorque(const ignition::math::Vector3d &_torque)
 {
+  auto wrench = this->simbodyPhysics->discreteForces.getOneBodyForce(
+    this->simbodyPhysics->integ->getState(), this->masterMobod);
+ 
+  // Set rotational component
+  wrench[0] += SimbodyPhysics::Vector3ToVec3(_torque);
+
+  this->simbodyPhysics->discreteForces.setOneBodyForce(
+    this->simbodyPhysics->integ->updAdvancedState(),
+    this->masterMobod, wrench);
 }
 
 /////////////////////////////////////////////////
-void SimbodyLink::AddRelativeTorque(const ignition::math::Vector3d &/*_torque*/)
+void SimbodyLink::AddRelativeTorque(const ignition::math::Vector3d &_torque)
 {
-  gzerr << "Not implemented.\n";
+  auto const worldTorque = this->WorldPose().Rot().RotateVector(_torque);
+  this->AddTorque(worldTorque);
 }
 
 /////////////////////////////////////////////////
diff --git a/test/integration/physics_link.cc b/test/integration/physics_link.cc
index ab0a73f65e..e4e3a21ad1 100644
--- a/test/integration/physics_link.cc
+++ b/test/integration/physics_link.cc
@@ -145,7 +145,7 @@ void PhysicsLinkTest::AddLinkForceTwoWays(
   // Note: This step must be performed after checking the link forces when DART
   // or bullet is the physics engine, because otherwise the accelerations used
   // by the previous tests will be cleared out before they can be tested.
-  if ("dart" == _physicsEngine || "bullet" == _physicsEngine)
+  if ("ode" != _physicsEngine)
   {
     _world->Step(1);
   }
@@ -210,14 +210,6 @@ void PhysicsLinkTest::AddLinkForceTwoWays(
 /////////////////////////////////////////////////
 void PhysicsLinkTest::AddForce(const std::string &_physicsEngine)
 {
-  // TODO simbody currently fail this test
-  if (_physicsEngine == "simbody")
-  {
-    gzerr << "Aborting AddForce test for Simbody. "
-          << "See issue #1478." << std::endl;
-    return;
-  }
-
   Load("worlds/blank.world", true, _physicsEngine);
   physics::WorldPtr world = physics::get_world("default");
   ASSERT_TRUE(world != NULL);
@@ -258,6 +250,11 @@ void PhysicsLinkTest::AddForce(const std::string &_physicsEngine)
   model->SetLinkWorldPose(ignition::math::Pose3d(
         ignition::math::Vector3d(2, 3, 4),
         ignition::math::Quaterniond(0, IGN_PI/2.0, 1)), link);
+  // Simbody requires a step to update the link pose
+  if(_physicsEngine == "simbody")
+  {
+    world->Step(1);
+  }
   EXPECT_NE(ignition::math::Pose3d::Zero, link->WorldPose());
   EXPECT_EQ(link->WorldPose(), link->WorldInertialPose());
   this->AddLinkForceTwoWays(_physicsEngine, false, true, world, link,
@@ -265,6 +262,11 @@ void PhysicsLinkTest::AddForce(const std::string &_physicsEngine)
 
   gzdbg << "World == link == inertial frames, with offset" << std::endl;
   model->SetLinkWorldPose(ignition::math::Pose3d::Zero, link);
+  // Simbody requires a step to update the link pose
+  if(_physicsEngine == "simbody")
+  {
+    world->Step(1);
+  }
   EXPECT_EQ(ignition::math::Pose3d::Zero, link->WorldPose());
   EXPECT_EQ(ignition::math::Pose3d::Zero, link->WorldInertialPose());
   this->AddLinkForceTwoWays(_physicsEngine, true, true, world, link,
@@ -278,6 +280,11 @@ void PhysicsLinkTest::AddForce(const std::string &_physicsEngine)
       ignition::math::Quaterniond(IGN_PI/3.0, IGN_PI*1.5, IGN_PI/4));
   link->GetInertial()->SetCoG(inertialPose);
   link->UpdateMass();
+  // Simbody requires a step to update the link pose
+  if(_physicsEngine == "simbody")
+  {
+    world->Step(1);
+  }
   EXPECT_EQ(ignition::math::Pose3d::Zero, link->WorldPose());
   EXPECT_EQ(inertialPose, link->WorldInertialPose());
   this->AddLinkForceTwoWays(_physicsEngine, true, false, world, link,
@@ -291,6 +298,11 @@ void PhysicsLinkTest::AddForce(const std::string &_physicsEngine)
       ignition::math::Quaterniond(0, 2.0*IGN_PI, IGN_PI/3));
   link->GetInertial()->SetCoG(inertialPose);
   link->UpdateMass();
+  // Simbody requires a step to update the link pose
+  if(_physicsEngine == "simbody")
+  {
+    world->Step(1);
+  }
   this->AddLinkForceTwoWays(_physicsEngine, false, false, world, link,
                             ignition::math::Vector3d(1, 2, 1),
                             ignition::math::Vector3d(-2, 0.5, 1));
@@ -305,6 +317,11 @@ void PhysicsLinkTest::AddForce(const std::string &_physicsEngine)
       ignition::math::Quaterniond(IGN_PI/9, 0, IGN_PI*3));
   link->GetInertial()->SetCoG(inertialPose);
   link->UpdateMass();
+  // Simbody requires a step to update the link pose
+  if(_physicsEngine == "simbody")
+  {
+    world->Step(1);
+  }
   link->SetLinearVel(ignition::math::Vector3d(2, -0.1, 5));
   link->SetAngularVel(ignition::math::Vector3d(-IGN_PI/10, 0, 0.0001));
   this->AddLinkForceTwoWays(_physicsEngine, false, false, world, link,