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Torque

The formula of torque is given by:
τ = r x F

Where we have:
r: position vector from the origin to the object
F: force

The torque can also be determined by the rate of the change of angular momentum and the time:
τ = dL/dt

Where we have:
L: angular momentum
t: time

If we know the moment of inertia about axis O, then we can determine torque by using:
τo = Io ·  dω / dt

Where we have:
ω: angular speed
t: time

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