Torque (${\mathbf{\tau }}_O=\mathbf{r}\times \mathbf{F}$)

Torque measures a force's turning effect about a specified origin. The geometry in the angular momentum diagram applies with force replacing momentum: transverse forces give positive or negative torque, while a radial force gives zero. A longer perpendicular lever arm makes the same force more effective, explaining why pushing near the end of a handle is useful.

For a force $\mathbf{F}$ applied at position $\mathbf{r}$ from a fixed origin $O$ in an inertial frame, its torque, or moment of force, isHere $F=|\mathbf{F}|$, $\varphi$ is the angle between position and force, and $\ell =r\sin \varphi$ is the perpendicular lever arm. Direction follows the right-hand rule; in the $xy$ plane ${\tau }_z=x{F}_y-y{F}_x$, positive counterclockwise as viewed from $+z$. The International System of Units unit is $\mathrm{N}\mathrm{m}=\mathrm{kg}{\mathrm{m}}^2/{\mathrm{s}}^2$. Although torque and energy have the same physical dimensions, torque is an axial vector and energy is a scalar; their roles differ.

For $\mathbf{r}=(2,0,0)\mathrm{m}$ and $\mathbf{F}=(0,3,0)\mathrm{N}$, ${\tau }_z=+6\mathrm{N}\mathrm{m}$. Applying the same force at $(1,0,0)\mathrm{m}$ gives $+3\mathrm{N}\mathrm{m}$; reversing it gives a negative torque; directing it along $\mathbf{r}$ gives zero. More generally, sum ${\mathbf{r}}_i\times {\mathbf{F}}_i$ to find the total torque about one common origin.

For a constant-mass point mass, the product rule and Newton's second law show why net torque changes angular momentum:The first cross product vanishes because its factors are parallel. For a collection with canceling internal torques, the remaining sum is external torque, giving conservation of angular momentum when it vanishes.^[ref]

A nonzero torque can turn the direction of angular momentum as well as change its magnitude. Indeed, the dot product gives $d|{\mathbf{L}}_O{|}^2/dt=2{\mathbf{L}}_O\cdot {\mathbf{\tau }}_O$: a perpendicular torque changes direction without instantaneously changing the magnitude. This is the geometry behind gyroscope precession. For a rapidly spinning symmetric top with a fixed tip, centre of mass distance $d$ from the tip, mass $M$, and spin-dominated angular momentum magnitude $L\simeq I\omega$, the slow steady precession approximation gives $\Omega \simeq Mgd/L$, where $g$ is gravitational acceleration. ^[ref] This is an approximation with $\Omega \ll \omega$; the uniform precession of a heavy symmetric top retains contributions omitted by the spin-dominated estimate.

A rigid body's axial moment of inertia $I$ and a constant resisting torque ${\tau }_f>0$ give constant angular acceleration $-{\tau }_f/I$. Hence $t_{\mathrm{stop}}=I{\omega }_0/{\tau }_f$ and the angular displacement is the displayed expression. Equivalently, the lost rotational kinetic energy $I{\omega }_0^2/2$ equals the resisting work ${\tau }_f\Delta \varphi$. The total number of revolutions is $\Delta \varphi /(2\pi )$; the number of whole revolutions completed is its floor function.

For positive angular velocity, a motor delivering constant mechanical power $P$ produces torque $P/\omega$. With constant opposing kinetic friction torque ${\tau }_f$, angular momentum balance gives the displayed equation and a steady speed ${\omega }_{\ast }=P/{\tau }_f$. A small increase in speed reduces the driving torque below the friction torque, making this equilibrium stable within the model. The constant-power idealization is singular at exact rest and requires a separate starting regime in a real motor.

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 $I\Delta \omega$.

The lever arm of a nonzero force about an origin is the shortest distance from that origin to the line through the application point parallel to the force. Its length is $\ell =|\mathbf{r}\times \hat{\mathbf{F}}|$, with unit vector $\hat{\mathbf{F}}=\mathbf{F}/|\mathbf{F}|$. Thus torque magnitude is $F\ell$, maximal at a right angle for fixed $r$ and $F$, and zero if the line passes through the origin. Sliding the application point along that line leaves torque unchanged, since $(\mathbf{r}+s\hat{\mathbf{F}})\times \mathbf{F}=\mathbf{r}\times \mathbf{F}$. The same perpendicular-distance construction gives angular momentum magnitude $p\ell$ for a line parallel to nonzero momentum through the particle.

A pair of equal and opposite forces acting along distinct lines has zero resultant force but a nonzero torque. If $\mathbf{F}$ acts at ${\mathbf{x}}_1$ and $-\mathbf{F}$ at ${\mathbf{x}}_2$, the total torque about any origin is $({\mathbf{x}}_1-{\mathbf{x}}_2)\times \mathbf{F}$. Shifting that origin changes the moment by the cross product of the shift with the resultant force, which is zero. A prescribed couple therefore specifies a pure turning moment independently of its reference point. In Stokes flow it can drive a rotating sphere in Stokes flow without a directly imposed translational force.

Moment balance equates the rate of change of angular momentum to applied torques. A static slender rod obeys ${\partial }_s\mathbf{M}+\mathbf{t}\times \mathbf{F}+\mathbf{m}=0$.