Greetings In order to make a mathematical model of the forces that act on a mechanism, I need to use the formula for the force between two magnetic dipoles. It would have to be a complete formula, that should take into consideration, aside magnetic moment and environment permeability: the position of the two dipoles relative to an absolute coordinate system (of arbitrary origin) the orientation of the two dipoles, relative to the absolute coordinate system To give a specific example: knowing the location and orientation vectors of two magnetic dipoles, I want to determine the components (on x, y and z) of the attractive/repelling force that they exercise on each other. Oddly enough, as it should be a general knowledge imo, it is hard to find this specific formula. I have only found it on wikipedia (http://en.wikipedia.org/wiki/Force_between_magnets). But I would feel safer if someone with a background in this field could confirm it, or recommend a trusted source where it is eventually explained as well. Thanks in advance.