establish realitionship between torque and angular
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In this section, we will develop the relationship between torque and angular acceleration. ... For a whole object, there may be many torques. So the sum of the torques is equal to the moment of inertia (of a particle mass, which is the assumption in this derivation), I = m r multiplied by the angular acceleration,
Newton's 2nd law relates force to acceleration. In the angular version of Newton's 2nd law, torque τ takes the place of force and rotational inertia takes the place of mass. When the rotational inertia of an object is constant, the angular acceleration is proportional to torque.
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