1. There is a Rectangle (shape could change), and a force like F, that effect the rectangle at point P on its surface. i don't know how the shape will move after impulse, the center of mass is CM, the center of rotation is CR, the shape mass is m. I'm really sorry to ask a question like this! but I'm a software developer and these are all i got. the problem is building a simulator for shape movement. 2. T = Iα, T = F × (P - CR) then α= F × (P - CR) / I angular velocity = ? Inertia = m * R^2 // the R is the shape radius or it depend to the CR? and is constant or not? Linear Accelerate = F.(P - CR) / m // I'm not sure! liner velocity is simply calculate if the above sentence was correct. angular velocity and the angle from CR is unknown to me? thanks for your answer, it will be really helpful to me.