Torque of Particle

Available identifiers

equation expressing the torque on a particle

Angular velocity needs to be taken into account when transforming the contact point between two particles from local to global coordinates.

Defining Formula: $\begin{matrix} 𝑻_{i} & = (𝒙_{a_{i j}} - 𝒙_{i}) \times 𝑭_{i j}^{T} \\ 𝒙_{a_{i j}} & = 𝒙_{i} + \frac{r_{i}}{r_{i} + r_{j}} (𝒙_{i} - 𝒙_{j}) \end{matrix}$
$𝒙_{i} \in ℝ^{3}$ symbol represents Particle Position
$𝐅_{i j}^{T}$ symbol represents Tangential Interaction Force of Two Particles
$r_{i}$ symbol represents Particle Radius
$T$ symbol represents Torque