Angular impulse (${\mathbf{J}}_L=\int \mathbf{\tau }dt=\Delta \mathbf{L}$)

The time integral of torque about a specified origin equals the change in angular momentum about that origin under the usual fixed-origin inertial frame balance. Its units are $\mathrm{N}\mathrm{m}\mathrm{s}$, equivalently $\mathrm{kg}{\mathrm{m}}^2{\mathrm{s}}^{-1}$. For rotation about a fixed principal axis, the magnitude is $I\Delta \omega$.