The [[derivative]] of angular momentum with respect to time is equal to the sum of the external moments (or [[torque]] <math>\vec {\tau}</math>) applied to the system. Differentiating angular momentum gives:
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The [[Derivative (calculus)|derivative]] of angular momentum with respect to time is equal to the sum of the external moments (or [[torque]] <math>\vec {\tau}</math>) applied to the system. Differentiating angular momentum gives:
<math>\vec {\tau} = \vec r \times \vec F + \vec{\dot{r}} \times p</math>
<math>\vec {\tau} = \vec r \times \vec F + \vec{\dot{r}} \times p</math>