where ω ω → → and v → → are the angular and linear velocity vectors at the point x → → , respectively; I ~ ~ is the moment of inertia tensor, m is the body's mass; n ^ ^ is a unit normal to the surface of the body at the point x → → ; p is a pressure at this point; Q → → h and F → → h are the hydrodynamic torque and force acting on the body, respectively; Q → → and F → → likewise denote all other torques and forces acting on the body. The integration is performed over the fluid-exposed portion of the body's surface.