Hello, I found the equation for torque to be t = r x F, where r and F are vectors. I have several questions about this; is r a true position vector, or is it the distance from the axis of rotation to the mass? is r the initial position of the mass with respect to the axis of rotation? My current understanding of the equation is the r is the initial position of the mass, and that F is simply the force resolved into its x,y and z components. Is this true?