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derive equation of rectangular componets of torque
T=r*F
r=xi+yj+zk
F=Fxi+Fyj+Fzk
T=(xi+yj+zk)(Fxi+Fyj+Fzk)
T(torque)=(yFz-zfy)i + (zFx-xFz)j +(xFy-yFx)k
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