I read this article: http://www.freestudy.co.uk/dynamics/gyros.pdf at the bottom of page 2, it bolded text it is said "Torque = rate of change of angular momentum" Is that right? It seems to suggest that Torque = (δ Angular momentum) / (δ time) but the units do not appear to work out. Torque is in N*m, the right hand side's unit is kg*m^2*s^-2. I don't know anyway this can equate. I might have missed something painfully obvious, but I can't see it right now, my head is fried from lack of sleep.