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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