Torque of particle (equation expressing the torque on a particle)

mathematical expression

Available identifiers

Angular velocity needs to be taken into account when transforming the contact point between two particles from local to global coordinates.

$\begin{matrix} 𝑻_{i} & = (𝒙_{a_{i j}} - 𝒙_{i}) \times 𝑭_{i j}^{T} \\ 𝒙_{a_{i j}} & = 𝒙_{i} + \frac{r_{i}}{r_{i} + r_{j}} (𝒙_{i} - 𝒙_{j}) \end{matrix}$
$𝒙_{i} \in ℝ^{3}$ represents particle position
$𝐅_{i j}^{T}$ represents tangential interaction force of two particles
$r_{i}$ represents particle radius
$T$ represents torque

Item	Property
linear discrete element method	contains
torque	specialized by

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