## 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:

| (1) |

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:

| (2) |

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

**References:**

[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