Suppose a force is applied at point as shown in the figure above. Point is part of a rigid body with an axis of rotation going through point . Suppose the angle between the force and the position vector is . The force can be decomposed into which does not produce rotation and which does produce rotation about the origin . The component is given by
Another way to look at the torque equation is to consider the following
If more than one force is acting on a rigid body, the net torque (or resultant torque) is
