Is there any torque caused by uniform force fields?

The torque caused by superposition of uniform force fields acting on a rigid body can be expressed as:


The ~ tilde character above a 3D point/vector denotes object space. The center of mass of a rigid body is expressed as:

We define object space of a rigid body to have its origin right at its center of mass. So, by using the tilde notation we can derive the following implication:


By plugging (2) into (1) we get:


[1] Feynman, R. P., Feynman Lectures on Physics (3 Volume Set), Volume 1, Czech Edition
[2] Baraff, D., An Introduction to Physically Based Modeling: Rigid Body Simulation I - Unconstrained Rigid Body Dynamics

© 2002-4 Marek Trefny