 Analogous to mass times acceleration, the moment of inertia tensor depends on the distribution of mass about the axis of rotation, and the angular acceleration is the rate of change of angular velocity,

Again, these equations apply to point like particles, or at each point of a rigid body.Likewise, for a number of particles, the equation of motion for one particle is

where is the angular momentum of particle , the torque on particle by particle , and is resultant external torque (due to any agent not part of system).Particle does not exert a torque on itself.