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𝑖 𝑗 𝑘 𝑖 𝑗 𝑘 𝑖 𝑗
̅ = 𝑟̅ x 𝐹̅ = [ 𝑟𝑥
𝑀 𝑟𝑦 𝑟𝑧 ] = [ 𝑟𝑥 𝑟𝑦 𝑟𝑧 ] [ 𝑟𝑥 𝑟𝑦 ]
𝐹𝑥 𝐹𝑦 𝐹𝑧 𝐹𝑥 𝐹𝑦 𝐹𝑧 𝐹𝑥 𝐹𝑦
̅ = 𝑟̅ x 𝐹̅ = [ ( ry Fz – Fy rz ) i + (rz Fx – Fz rx) j
𝑀 + (rx Fy – Fx ry) k ]
̅ = Mx i
𝑀 + My j + Mz k