D&D is not a science based or physics based game. Yet certain inquiring players apparently want to know.
Thus, how many Joules does strength values ten through twenty estimate to? Based on lift over head weight listed in the encumbrance chart.
Science related info for the problem:
The Prime material plane has been established as being the same as Earth in every aspect not specifically listed as being different (at least for Greyhawk, Forgotten Realms, and Dragonlance), thus for physics purposes, we can assume that Earth-like physics are actually the default when not overridden by psionics, magic, incarnum, etc..
The amount of weight being lifted is exactly equal to the max value listed in the table for every strength value, at sea level with regards to atmospheric pressure and gravity is assumed to be 1G since there is no indication in the primary D&D worlds that it isn't.
Let's assume a human is doing the lifting, for this purpose, in case it makes a difference, using the average height listed in the Height and Weight table.