Hi, I am a noob to physics trying to get a better understanding of rigid bodies. How do I calculate the torque, force at the center of mass of a rigid body given a torque whose axis is not going through the center of mass of the body? Example(engine axis doesn't go trough com): [URL]http://www.piercy.co.za/images/seawind3views1.jpg[/URL] I found the following equation for the torque: Tcom = I / (I + m * (r * r)) * T I is the scalar inertia relative to torque axis n: n = T / |T| I = (Inertia * n) * n I looks like the parallel axis theorem is used here. Is it correct? And how do I calculate the force due to torque: Fcom = r x T ?