Ok, that is the part that I understand, what I don't understand is will I have to model the torques as rotating around the x, y and z or can you do it with just an xy angle and an xz angle? I have the force as a 3D vector and the distance from the rotation as a 3D vector. I take the cross product and from that I get something, but I am not quite sure what I get. I already have the motion working perfectly in 3D, can you explain how I can get from on instance, to the next. For instance, I know where everything is, how fast it is moving, how fast it is rotating and what it is rotating around, how do I use that to get the torque as a 3D vector (I was only shown the way to get it as a torque in the xy plane). Thanks a lot.