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I have been working on a rigid body subject quite a long. But till now there is an unresolved question for me. When we calculating the torque acting on the rigid body we use the following definition of the torque: t = r X f, X - is a cross product. So if I calculate the torque in a body-fixed system I use r in the body-fixed system too, but for force f - I am not sure. In which coordinate system should it be expressed - in the body-fixed or in space-fixed. Are this forces different in both systems? Sorry, for probably stupid questions. Thanks