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TORQUE

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TORQUE
Developer	Adaptive computing
Initial release	2003 (2003)

Stable release	7.0 / 27 January 2023; 3 years ago (2023-01-27)

Written in	ANSI C
Operating system	Unix-like
Size	5 MB
Available in	English
Type	Distributed resource manager
License	Proprietary License (As of June 2018),^[1] OpenPBS version 2.3^[2]^[3] (non-free in DFSG^[4])
Website	adaptivecomputing.com/cherry-services/torque-resource-manager/

The Terascale Open-source Resource and Queue Manager (TORQUE) is a distributed resource manager designed to oversee batch jobs and distributed compute nodes.^[5] It offers control and management capabilities for clusters, aiding in utilization, scheduling, and administration tasks.

TORQUE can be integrated with either the non-commercial Maui Cluster Scheduler or the commercial Moab Workload Manager, providing enhanced functionality and optimization for cluster environments.

Initially based on the Portable Batch System (PBS), the TORQUE community has expanded its capabilities to improve scalability, fault tolerance, and overall functionality. Notable contributors to TORQUE include organizations such as NCSA, OSC, USC, the US DOE, Sandia, PNNL, UB, TeraGrid and other High-Performance Computing (HPC) entities.

As of June 2018, TORQUE is no longer considered open-source software due to licensing issues. It was previously described as open-source software and utilized the OpenPBS version 2.3 license, but was categorized as non-free software according to the Debian Free Software Guidelines.^[1]^[2]^[4]

References

[edit]

^ ^a ^b "Closed Source Software License". Adaptive Computing, Inc. 2018. Retrieved 2018-07-31.
^ ^a ^b Veridian Information Solutions, Inc. (2000). "OpenPBS (Portable Batch System) v2.3 Software License". Cluster Resources, Inc. Archived from the original on 2011-08-20. Retrieved 2011-07-31.
^ "Torque resource manager". Cluster Resources, Inc. 2011. Archived from the original on 2011-07-19. Retrieved 2011-07-31.
^ ^a ^b "The DFSG and Software Licenses - Licenses that are DFSG-incompatible". Debian. 2011-03-27. Archived from the original on 2011-07-25. Retrieved 2011-07-31.
^ TORQUE resource manager, Garrick Staples, SC '06: Proceedings of the 2006 ACM/IEEE conference on Supercomputing, ISBN 0-7695-2700-0

External links

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Revisions and contributors Edit on Wikipedia Read on Wikipedia

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from Grokipedia

Torque is a physical quantity that represents the rotational equivalent of linear force, measuring the tendency of a force to cause an object to rotate about a fixed axis.^[1] It is calculated as the product of the force applied and the perpendicular distance from the axis of rotation to the line of action of the force, known as the lever arm or moment arm.^[2] In vector form, torque

\vec{\tau}

is given by the cross product $\vec{\tau} = \vec{r} \times \vec{F}$

×F

, where $\vec{r}$

is the position vector from the axis to the point of force application and $\vec{F}$

is the force vector, with the magnitude $\tau = r F \sin \theta$ (where $\theta$ is the angle between $\vec{r}$

and $\vec{F}$

).^[3] The direction of torque is perpendicular to both the position and force vectors, determined by the right-hand rule, and it can produce angular acceleration in rigid bodies according to Newton's second law for rotation ( $\vec{\tau} = I \vec{\alpha}$

=Iα

, where $I$ is the moment of inertia and $\vec{\alpha}$

is angular acceleration).^[1] Torque is a vector quantity, and its sign convention typically assigns positive values to counterclockwise rotations and negative to clockwise when viewed from a standard perspective.^[1] In equilibrium, the net torque on an object is zero, meaning the sum of all clockwise torques equals the sum of all counterclockwise torques.^[3] The SI unit of torque is the newton-meter (N·m), equivalent to a force of one newton applied at a perpendicular distance of one meter from the axis, though it is distinct from work or energy units despite sharing the same dimensions.^[1]^[4] Torque plays a fundamental role in mechanics, appearing in applications from simple levers and pulleys to complex systems like engines, where it quantifies the twisting effectiveness of forces in generating rotational motion.^[2]

Definition and Formulation

Vector Definition

In physics, torque is defined as a pseudovector

\vec{\tau}

given by the cross product $\vec{\tau} = \vec{r} \times \vec{F}$

×F

, where $\vec{r}$

is the position vector from a chosen pivot point to the point of application of the force vector $\vec{F}$

. This formulation captures the tendency of the force to produce rotation about the pivot, distinguishing torque from linear force, which induces translational motion along the force direction. The resulting torque vector is perpendicular to the plane formed by $\vec{r}$

and $\vec{F}$

, with its magnitude proportional to the sine of the angle between them, emphasizing the rotational component of the force. The direction of the torque vector follows the right-hand rule for cross products: extend the fingers of the right hand along $\vec{r}$

, curl them toward $\vec{F}$

, and the thumb indicates the direction of $\vec{\tau}$

, which defines the axis of rotation.^[5] This convention ensures consistency in three-dimensional space, where torque acts as a pseudovector that changes sign under improper rotations like reflections. The concept of torque, historically termed the "moment of force," originated in the early 19th century with Siméon Denis Poisson's Traité de mécanique (1811), where it was formalized in analytical mechanics.^[6] This development built upon ancient principles, such as Archimedes' 3rd-century BCE law of the lever, which equated the effects of forces at different distances from a fulcrum to balance rotational tendencies.^[7] A practical example is the torque exerted when pushing on a door: if $\vec{r}$

points from the hinge to the point of push and $\vec{F}$

is applied at an angle, the torque $\vec{\tau} = \vec{r} \times \vec{F}$

×F

tends to rotate the door around the hinge, with maximum effect when $\vec{F}$

is perpendicular to $\vec{r}$

.^[1]

Scalar Magnitude and Direction

The scalar magnitude of the torque, denoted as

|\tau|

, quantifies the rotational effect of a force about a pivot point and is calculated using the formula

|\tau| = r F \sin \theta

, where

r

is the distance from the pivot to the point of force application,

F

is the magnitude of the force, and

\theta

is the angle between the position vector and the force vector.^[8] This expression derives from the magnitude of the vector cross product, capturing the component of the force that contributes to rotation.^[9] An equivalent formulation expresses the magnitude as

|\tau| = F d

, where

d

represents the moment arm, defined as the perpendicular distance from the pivot to the line of action of the force.^[10] Geometrically, torque embodies the "twisting strength" of the force, which reaches its maximum value when

\theta = 90^\circ

, meaning the force acts perpendicular to the lever arm, as this alignment fully leverages the distance

r

for rotation.^[1] In two-dimensional scenarios, the direction of torque is specified relative to the plane of motion, with the torque vector pointing perpendicular to that plane; a common sign convention assigns positive values to counterclockwise rotations and negative values to clockwise ones.^[11] For instance, when using a wrench of length

r = 0.25

m to turn a bolt, applying a force

F = 40

N perpendicular to the handle (

\theta = 90^\circ

) produces a torque magnitude of

|\tau| = 0.25 \times 40 \times \sin 90^\circ = 10

N·m, tending to rotate the bolt counterclockwise if viewed from above. If the same force is applied at an angle

\theta = 45^\circ

, the magnitude reduces to

|\tau| = 0.25 \times 40 \times \sin 45^\circ \approx 7.07

N·m, illustrating how the angle diminishes the effective twisting.^[12]

Relations to Kinematics and Dynamics

Connection to Angular Momentum

In rotational dynamics, torque

\vec{\tau}

is fundamentally defined as the time rate of change of angular momentum $\vec{L}$

of a system, expressed by the equation $\vec{\tau} = \frac{d\vec{L}}{dt}$

=dtdL

.^[13] This relation holds for any system of particles or rigid bodies, where the net external torque equals the total rate of change of the system's angular momentum.^[14] For a rigid body rotating about a fixed axis, the angular momentum is given by $\vec{L} = I \vec{\omega}$

=Iω

, where $I$ is the moment of inertia about that axis and $\vec{\omega}$

is the angular velocity. Substituting this into the fundamental equation yields $\vec{\tau} = I \frac{d\vec{\omega}}{dt} = I \vec{\alpha}$

=Idtdω

=Iα

for systems of constant mass and moment of inertia, where $\vec{\alpha}$

is the angular acceleration.^[15] This form is the rotational analog of Newton's second law for linear motion, $\vec{F} = \frac{d\vec{p}}{dt}$

=dtdp

, highlighting torque's role in altering rotational motion much like force changes linear momentum.^[15] When no external torque acts on a system ( $\vec{\tau} = 0$

=0), the angular momentum remains conserved, $\vec{L} =$

= constant, leading to applications in phenomena like the steady spin of a gyroscope or the orbital motion of planets.^[13] For instance, applying torque to a wheel, such as through friction from the ground, increases its angular speed ( $\alpha > 0$ ) during acceleration or decreases it during braking, directly altering its angular momentum.^[16] In variable mass systems, such as rockets expelling propellant, the relationship between torque and angular momentum becomes more involved due to the changing mass distribution, requiring additional terms to account for the momentum carried away by ejected material.

Derivatives and Time Evolution

In non-steady rotational systems, the time derivative of torque, denoted

\dot{\tau} = \frac{d\tau}{dt}

, describes the instantaneous rate of change of the applied rotational force, playing a key role in analyzing behaviors like oscillations or rapid accelerations where torque does not remain constant. This derivative is particularly relevant in transient conditions, where it influences the smoothness of motion and system stability. For instance, in oscillatory systems,

\dot{\tau}

captures how quickly the torque adjusts to varying inertial demands or external perturbations. The relation between

\dot{\tau}

and higher-order kinematics derives from the core equation of rotational dynamics,

\vec{\tau} = I \vec{\alpha}

=Iα

, where $I$ is the moment of inertia and $\vec{\alpha}$

is the angular acceleration. Differentiating with respect to time yields $\dot{\vec{\tau}} = \dot{I} \vec{\alpha} + I \dot{\vec{\alpha}}$

˙=I˙α

+Iα

˙ for cases of variable inertia, with the second term involving angular jerk $\dot{\vec{\alpha}} = \frac{d\vec{\alpha}}{dt}$

˙=dtdα

, the rate of change of angular acceleration. When $I$ is constant—as in most rigid-body analyses—this simplifies to $\dot{\vec{\tau}} = I \dot{\vec{\alpha}}$

˙=Iα

˙, linking the torque derivative directly to jerk and highlighting its role in quantifying rotational "jolt." This formulation extends the analogy to linear dynamics, where the force derivative relates to linear jerk, and is applied in control systems to bound motion smoothness. Applications of torque derivatives appear prominently in transient dynamics. In electric motor startups, the torque evolves rapidly from an initial high value—often 150–250% of rated torque—to accelerate the rotor, with $\dot{\tau}$ governing the transition rate and preventing excessive mechanical stress; for induction motors, this profile typically peaks within milliseconds before decaying as speed approaches nominal values.^[17] Similarly, in damped pendulums, the net torque varies temporally due to gravitational restoration and viscous damping, resulting in $\dot{\tau}$ that modulates the exponential decay of oscillations, ensuring controlled energy dissipation.^[18] A practical example is a swinging door mechanism, where applied torque must adjust dynamically to changing angular velocity; as the door accelerates from rest, initial high torque overcomes static friction and inertia, but $\dot{\tau}$ becomes negative during deceleration phases influenced by hinges or air drag, yielding a nonlinear time profile that ensures smooth closure without slamming. In engineering design, such torque-time profiles are routinely plotted or tabulated to evaluate system performance—for instance, in automotive engines, where transient torque ramps during acceleration are optimized to balance power delivery and component durability, often showing initial surges followed by steady-state plateaus over 0.1–1 second timescales.^[19]

Energy and Power Aspects

Relation to Mechanical Power

In rotational systems, the instantaneous mechanical power

P

is the rate at which torque transfers energy to or from the system, given by the scalar product

P = \tau \omega

when the torque

\tau

and angular velocity

\omega

are aligned along the axis of rotation.^[20] More generally, for arbitrary orientations, the power is the vector dot product

P = \vec{\tau} \cdot \vec{\omega}

P=τ

⋅ω

, capturing only the component of torque parallel to the angular velocity.^[21] This formulation highlights power as the instantaneous energy transfer rate driven by the torque acting at a specific angular speed.^[22] The units of mechanical power align consistently with those of torque and angular velocity: power is measured in watts (W), or joules per second (J/s), derived from torque in newton-meters (N·m) multiplied by angular velocity in radians per second (rad/s), yielding $\mathrm{N \cdot m \cdot rad/s = J/s}$ since the radian is dimensionless.^[23] A practical example occurs in electric motors, where output power is computed from measured torque and rotational speed in revolutions per minute (RPM) using $P = \tau \cdot \omega$ , with $\omega$ converted via $\omega = 2\pi \cdot \mathrm{RPM}/60$ ; for instance, a motor delivering 10 N·m at 1500 RPM produces approximately 1570 W.^[24] When angular velocity varies over time, such as during acceleration or load changes, the instantaneous power $P(t) = \vec{\tau}(t) \cdot \vec{\omega}(t)$

(t)⋅ω

(t) fluctuates accordingly, whereas average power is the time-averaged value over an interval, providing a measure of net energy delivery.^[20]

Relation to Work and Energy

In rotational mechanics, the work done by a torque

\vec{\tau}

acting on a rigid body over an angular displacement $\Delta \vec{\theta}$

is given by the line integral $W = \int \vec{\tau} \cdot d\vec{\theta}$

⋅dθ

, which is analogous to the work done by a force in linear motion, $W = \int \vec{F} \cdot d\vec{x}$

⋅dx

.^[20] This formulation arises because torque causes rotational displacement, transferring energy to the system. For a constant torque, the expression simplifies to $W = \tau \Delta \theta$ , where $\Delta \theta$ is the total angular displacement magnitude.^[25] The rotational work-energy theorem states that the net work done by all torques equals the change in rotational kinetic energy of the body: $\Delta K = \frac{1}{2} I (\omega_f^2 - \omega_i^2) = \int \tau \, d\theta$ , where $I$ is the moment of inertia, $\omega_f$ and $\omega_i$ are the final and initial angular velocities, respectively.^[20] This connection highlights how torque accelerates rotation, converting work into kinetic energy, much like force does in translation. To derive the integral form, consider the instantaneous power $P = \frac{dW}{dt} = \tau \omega$ , combined with $\omega = \frac{d\theta}{dt}$ , yielding $dW = \tau \, d\theta$ ; integrating over the displacement gives $W = \int \tau \, d\theta$ .^[26] Torque can also relate to changes in potential energy, particularly in systems involving gravitational or elastic restoring torques. For instance, in a simple pendulum, the gravitational torque $\tau = -mg l \sin \theta$ (where $m$ is mass, $g$ is gravitational acceleration, $l$ is length to the center of mass, and $\theta$ is the angular displacement from vertical) opposes motion, and the work done against this torque increases the gravitational potential energy $U = m g l (1 - \cos \theta)$ .^[27] Similarly, in a torsional spring system, applying torque to wind the spring stores elastic potential energy; the work $W = \int_0^\theta \kappa \theta' \, d\theta' = \frac{1}{2} \kappa \theta^2$ (with $\kappa$ as the torsional constant) directly equals this potential increase.^[20] A practical example is lifting a load using a pulley system driven by torque. Here, the applied torque $\tau = r F$ (with $r$ as pulley radius and $F$ as tension) rotates the pulley through $\Delta \theta$ , performing work $W = \tau \Delta \theta = F (r \Delta \theta) = F \Delta h$ , where $\Delta h$ is the linear displacement of the load; this equals the gain in gravitational potential energy $m g \Delta h$ of the lifted mass $m$ .^[20]

Units and Measurement

SI Units

In the International System of Units (SI), torque is quantified using the newton-metre (N·m), defined as the torque resulting from a force of one newton applied perpendicularly over a lever arm of one metre.^[28] This unit physically interprets torque as the product of force and perpendicular distance, emphasizing its role in inducing rotation about an axis.^[28] The newton-metre shares dimensional equivalence with the joule (J), the SI unit of energy, as both are kg·m²·s⁻² in base units; however, torque is distinctly not an energy measure due to its vectorial nature and dependence on the geometry of application rather than path-integrated work.^[28] The Bureau International des Poids et Mesures (BIPM) maintains the coherence of the N·m through fixed definitions of the kilogram, metre, and second, ensuring traceability and precision in metrological standards. Torque measurement employs specialized instruments, including torque wrenches for applying and verifying controlled values in assembly tasks and dynamometers for assessing rotational forces in engines and machinery, with calibrations adhering to ISO 6789 for accuracy within ±4% of reading.^[29] In practical engineering contexts, torque values typically span from 10^{-3} N·m in micro-mechanical devices to 10^{6} N·m in large-scale industrial systems, reflecting the unit's versatility across scales.

Conversions to Other Units

Torque, as measured in the SI unit of newton-meter (N·m), can be converted to various non-SI units commonly used in engineering and industry. One prevalent imperial unit is the pound-force foot (lbf·ft), where 1 N·m = 0.737562 lbf·ft. This factor arises from the definitions of the base units: the newton (N) equals 1 kg·m/s², while the pound-force (lbf) equals 4.4482216152605 N exactly, and the foot (ft) equals 0.3048 m exactly. Thus, 1 lbf·ft = 4.4482216152605 N × 0.3048 m = 1.3558179483314004 N·m, so the inverse conversion yields 1 N·m ÷ 1.3558179483314004 ≈ 0.737562 lbf·ft.^[30] Another common imperial unit for torque, particularly in smaller-scale applications like fasteners, is the inch-pound force (in·lbf), with 1 N·m = 8.85075 in·lbf. This derives similarly from the inch equaling 0.0254 m exactly, making 1 in·lbf = (4.4482216152605 N × 0.0254 m) / 12 ≈ 0.112984829 N·m, and thus 1 N·m ≈ 8.85075 in·lbf. For even finer measurements, such as in precision instruments, the ounce-force inch (ozf·in) is used, where 1 ozf·in ≈ 0.007061552 N·m, so 1 N·m ≈ 141.612 ozf·in.^[30] In automotive engineering, torque specifications for engines are frequently expressed in lbf·ft in the United States or N·m internationally. This duality reflects regional standards, with conversions essential for global comparisons of vehicle performance data. Historical units like the kilogram-force meter (kgf·m), where 1 kgf·m = 9.80665 N·m and thus 1 N·m ≈ 0.101972 kgf·m, persist in some legacy engineering contexts but are avoided in modern scientific practice as they are non-SI and depend on gravitational acceleration (g ≈ 9.80665 m/s²). The SI promotes consistent use of N·m to eliminate such variability.^[30]

From N·m	To lbf·ft	To in·lbf	To ozf·in	To kgf·m
1	0.737562	8.85075	141.612	0.101972

These factors are exact where derived from definitions and rounded appropriately for practical use.^[30]

Statics Principles

Principle of Moments

The principle of moments states that for a rigid body in static equilibrium, the sum of all torques about any chosen point must be zero, expressed as

\sum \tau = 0

, where

\tau

represents the individual torques. This condition ensures no net rotational tendency occurs, and it holds regardless of the pivot point selected, provided the vector sum of forces is also zero to prevent translation.^[31] This principle applies to the vector sum of torques in three dimensions but is often simplified to scalar sums for coplanar force systems, where torques are considered clockwise or counterclockwise about an axis perpendicular to the plane.^[32] The concept was formalized in statics by French mathematician Pierre Varignon in 1687, who provided a rigorous geometric proof for the equilibrium of moments in force systems.^[33] Varignon's theorem states that the total torque produced by a system of forces about any point equals the torque due to their resultant force about the same point. This allows simplification of complex force distributions into an equivalent single force for moment calculations, aiding analysis in static systems.^[34] A practical example is a seesaw or beam balance, where two masses

m_1

and

m_2

are placed at distances

d_1

and

d_2

from the pivot. For equilibrium, the clockwise torque equals the counterclockwise torque:

m_1 g d_1 = m_2 g d_2

, allowing calculation of the pivot position

d_1 = \frac{m_2}{m_1 + m_2} L

for a beam of length

L

. This illustrates how the principle ensures balance in everyday lever systems.^[32]

Static Equilibrium Conditions

For a rigid body to be in static equilibrium, two fundamental conditions must be satisfied: the vector sum of all external forces must be zero (

\sum \vec{F} = 0

∑F

=0), which prevents translational acceleration, and the vector sum of all external torques about any arbitrary point must be zero ( $\sum \vec{\tau} = 0$

=0), which prevents rotational acceleration.^[35] These conditions apply to systems at rest relative to an inertial frame, encompassing both the principle of moments for torque and the balance of forces.^[35] In two-dimensional planar problems, these translate to three independent equations: two for forces ( $\sum F_x = 0$ and $\sum F_y = 0$ ) and one for torque perpendicular to the plane ( $\sum \tau_z = 0$ ). In three dimensions, the conditions expand to six independent equations: three for forces ( $\sum F_x = 0$ , $\sum F_y = 0$ , $\sum F_z = 0$ ) and three for torques about each axis ( $\sum \tau_x = 0$ , $\sum \tau_y = 0$ , $\sum \tau_z = 0$ ). Calculating torques about two strategically chosen points in 3D can provide the necessary independent equations to resolve components, as the full set ensures equilibrium about any point when forces balance. When the number of unknown reaction forces or supports exceeds the available equilibrium equations, the system becomes statically indeterminate, requiring supplementary relations from deformation compatibility or constitutive material laws to solve. For instance, a beam with three supports in 2D provides only three equations but four unknowns, necessitating additional analysis beyond pure statics. A classic example is a uniform ladder leaning against a frictionless wall, where torque equilibrium about the base resolves unknown normal forces. Consider a 5.0-m ladder of mass 10 kg at a 60° angle to the ground, with a 70-kg person 4.0 m up the ladder; the torque due to the ladder's weight acts at its center (2.5 m along the ladder), the person's weight at 4.0 m, and the wall's horizontal normal force provides a counter-torque at the top (5.0 m). Setting $\sum \tau = 0$ about the base eliminates friction and ground normal unknowns, yielding the wall force as approximately 345 N (using $g = 9.8$ m/s²), after which force balance solves the rest. In engineering applications involving shifting payloads or offset centers of mass on supported structures, such as sliders or mechanisms, the gravitational torque must be calculated to assess stability. The torque $\tau$ due to gravity is given by $\tau = m \times g \times d_{\text{offset}}$ , where $m$ is the mass of the payload, $g$ is the acceleration due to gravity (approximately 9.8 m/s²), and $d_{\text{offset}}$ is the horizontal distance from the support point to the payload's center of mass. Such torques are critical for evaluating equilibrium and preventing tipping in systems like vehicles or robotic devices.^[36] Torque balance in static equilibrium ensures no net rotation, thereby preventing tipping under applied loads, but it does not guarantee resistance to small oscillations, which requires damping mechanisms in the system to restore position after perturbations. Stable equilibrium occurs when displacements produce restoring torques opposite to the deviation, as in a system with a low center of gravity.^[37]

Dynamic and Applied Cases

Moment Arm Formula

The moment arm formula provides a practical method for calculating torque in systems where a force acts at a distance from a pivot point, particularly in lever-like configurations. The magnitude of the torque

\tau

is expressed as

\tau = F d

, where

F

is the magnitude of the force and

d

is the moment arm, defined as the shortest perpendicular distance from the pivot to the line of action of the force.^[1] This formula derives from the vector cross product definition of torque, where the magnitude is

|\tau| = r F \sin \theta

, with

r

being the distance from the pivot to the point of force application and

\theta

the angle between the position vector

\mathbf{r}

and the force vector

\mathbf{F}

. The moment arm

d

corresponds to the component of

r

perpendicular to

\mathbf{F}

, such that

d = r \sin \theta

, leading directly to

\tau = F d

.^[38]^[39] Geometrically,

d

is determined by constructing the perpendicular from the pivot to the extended line of action of the force, akin to dropping a plumb line to find the horizontal offset or projecting the force vector onto the plane perpendicular to the position vector. This construction ensures

d

captures the effective lever length contributing to rotation, independent of the force's point of application along its line.^[40] For instance, in a steering wheel, a driver applies force tangent to the rim, where

d

equals the wheel's radius, maximizing torque for a given

F

and enabling efficient turning with minimal effort; similarly, using a crowbar as a lever optimizes

d

between the fulcrum and load to pry objects with reduced force.^[41]^[42] The formula assumes idealized point forces acting along a straight line; for distributed loads, such as varying pressures over a surface, the total torque requires integration of

dF \cdot d

across the distribution to account for varying moment arms.^[43]

Net Force Versus Torque

In rigid body dynamics, the net force acting on a body governs its translational motion by accelerating its center of mass according to Newton's second law for translation:

\vec{a}_{\rm cm} = \frac{\vec{F}_{\rm net}}{m},

cm=mF

net, where $\vec{a}_{\rm cm}$

cm is the acceleration of the center of mass, $\vec{F}_{\rm net}$

net is the vector sum of all external forces, and $m$ is the total mass of the body. This equation describes how unbalanced forces cause the entire body to move linearly as if all mass were concentrated at the center of mass. In parallel, the net torque governs the body's rotational motion, producing angular acceleration about the center of mass via the rotational analog of Newton's second law: $\vec{\tau}_{\rm net} = I \vec{\alpha},$

net=Iα

, where $\vec{\tau}_{\rm net}$

net is the net external torque, $I$ is the moment of inertia about the center of mass, and $\vec{\alpha}$

is the angular acceleration.^[44] Torque about the center of mass is the appropriate reference for this equation, as torques calculated about arbitrary points generally do not yield the same rotational dynamics unless the point coincides with the center of mass or a fixed axis through it.^[45] A single external force can simultaneously produce both translational and rotational effects if applied off-center relative to the center of mass, as it contributes to $\vec{F}_{\rm net}$

net for linear acceleration and to $\vec{\tau}_{\rm net}$

net for angular acceleration. For instance, pushing a box horizontally through its center of mass results only in translation without rotation, whereas an eccentric push—such as at one edge—causes the center of mass to accelerate linearly while the body also rotates about that point.^[44] This dual effect highlights how force application location determines the resultant motion. A frequent misconception arises in assuming that zero net force precludes all acceleration; however, if $\vec{\tau}_{\rm net} \neq 0$

net=0 about the center of mass, the body experiences angular acceleration and rotates even as its center of mass remains stationary or moves uniformly.^[46] In static equilibrium, both $\vec{F}_{\rm net} = 0$

net=0 and $\vec{\tau}_{\rm net} = 0$

net=0 must hold to prevent any translation or rotation.

Torque in Machines

In mechanical and electrical machines, torque represents the rotational force generated by engines and motors, which is essential for driving loads such as wheels in vehicles or industrial equipment. Internal combustion engines produce torque through the combustion process, where expanding gases apply force to pistons connected to a crankshaft, converting linear motion into rotation. This torque varies with engine speed, forming a characteristic curve that peaks at relatively low revolutions per minute (RPM) to provide strong initial acceleration in applications like automobiles.^[47] The torque curve of a typical internal combustion engine in a car rises from low RPM, reaches a maximum around 2,000 to 4,000 RPM—where volumetric efficiency and combustion are optimized—and then declines at higher speeds due to factors like airflow limitations and friction.^[47] For electric motors, torque production arises from the interaction between magnetic fields and current in the windings. In DC motors, torque is proportional to the armature current:

\tau = K_t I_a

, where

K_t

is the torque constant depending on design parameters. For AC motors like synchronous types, torque is proportional to the sine of the load angle between stator and rotor fields.^[48] This allows torque to be controlled by adjusting current and field alignment for applications requiring precise speed-torque characteristics, such as in synchronous motors.^[49] Torque transmission in machines often involves gears and transmissions to adapt the output for specific needs, where the output torque

\tau_\text{out}

is given by

\tau_\text{out} = \tau_\text{in} \times r \times \mu

, with

r

as the gear ratio (number of teeth on driven gear over driving gear) and

\mu

as the efficiency (typically 0.9 to 0.98 for well-lubricated systems).^[50] Higher gear ratios multiply torque at the expense of speed, enabling heavy loads like those in vehicles to overcome inertia during startup. Dynamometers measure engine torque by absorbing rotational power and quantifying the reaction force, often using strain gauges or load cells on a torque arm connected to the shaft, allowing precise mapping of torque-speed relationships under controlled conditions.^[51] In automotive examples, a modern sedan engine might deliver peak torque of around 300 Nm, which relates to vehicle acceleration through Newton's second law for rotation,

\tau = I \alpha

, where

I

is the rotational inertia of the drivetrain and wheels, and

\alpha

is angular acceleration; higher torque thus enables quicker speed buildup from rest.^[52] Machine performance is often rated by power, calculated as

P = \tau \omega

, linking torque to angular velocity

\omega

for overall output assessment.^[53]

Torque Multipliers

Torque multipliers are specialized tools designed to amplify the torque applied by an operator, enabling the tightening or loosening of fasteners that require high force without excessive physical effort. These devices, such as cheater bars or geared torque multipliers, effectively extend the moment arm or employ mechanical advantage to increase output torque. For instance, a cheater bar is a simple pipe extension fitted over a wrench handle to lengthen the lever arm, while more advanced torque multipliers use internal gear systems to achieve similar amplification.^[54]^[55] The mechanics of torque multipliers rely on principles of leverage or gear reduction to boost output torque relative to input. In lever-based designs like cheater bars, the amplification occurs by increasing the distance from the pivot point, following the relationship where output torque

\tau_{out}

equals input torque

\tau_{in}

multiplied by the ratio of output to input distances (

d_{out} / d_{in}

). Geared torque multipliers, often using epicyclic or planetary gear trains, achieve higher ratios through multiple stages of gear interaction, where the sun gear receives input, planet gears rotate, and the ring gear provides amplified output, typically yielding multiplication factors of 5 to 125 or more depending on the configuration. This gear-based approach is particularly effective for precise control in confined spaces.^[56]^[54] Common types of torque multipliers include hydraulic torque wrenches, which use fluid pressure to generate high torque for heavy-duty bolting in construction and oil rigs; gear reducers, such as manual or mechanical models that employ planetary gears for low-speed, high-torque applications in manufacturing; pneumatic versions powered by compressed air for rapid operation in assembly lines; and electric models with microprocessor controls for consistent performance in field service. These types cater to diverse needs, from portable hand tools to powered systems, with gear reducers excelling in scenarios requiring torque outputs up to 36,880 lbf·ft.^[56]^[57]^[58] Safety and precision are paramount in torque multiplier use, as improper application can lead to over-torquing, which damages fasteners or structures, or under-torquing, which compromises joint integrity in bolt fastening. Devices must be calibrated regularly—typically annually or more frequently for heavy use—to maintain accuracy, often traceable to standards like those from NIST, ensuring the amplification factor remains reliable and preventing operator injury from excessive force. Quality torque multipliers reduce risks associated with makeshift tools by providing controlled, smooth operation.^[57]^[58]^[55] A practical example is removing an automobile lug nut using a torque wrench with a cheater bar extension. If the standard wrench has a 12-inch handle (input distance

d_{in}

) and a 24-inch cheater bar is added, the effective moment arm doubles (

d_{out} = 2 \times d_{in}

), yielding an amplification factor of 2, so 50 ft·lb of input torque produces 100 ft·lb of output torque to loosen the nut without straining the operator. This simple calculation highlights the device's utility in automotive maintenance.^[54]^[55]

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