> For the complete documentation index, see [llms.txt](https://ascendrobotics.gitbook.io/ascend/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://ascendrobotics.gitbook.io/ascend/other/physics/torque.md).

# Torque

#### What is Torque?

Torque is a vector which means its has a magnitude and a direction. At its most basic level is *a measure of the force that can cause an object to rotate about an axis.* Just like force causes an object to accelerate in linear kinematics torque causes an object to accelerate in angular kinematics        

How do we calculate torque?

The formula to calculate the magnitude of torque is given as:

$$
τ = F \*dsin(θ)
$$

where:

* τ is the torque
* F is the force applied to the rotating object
* d is the distance of the applied force from the point of rotation 
* θ is the angle of the applied vector force in relation to the rotating arm. This arm is also known as the moment arm

The concept of torque is essential in robotics as it is a fundamental of motors, gears, and levers which are used to transmit power and motion. To drive the robot you need to torque to accelerate, hold a top speed and to push other opponents. It is also needed to lift heavier objects faster and while keeping the speed of the robot.

**Torque Calculator** 

{% embed url="<https://codepen.io/Ascend-Robotics/full/PoXeoPa>" %}
If you can't figure out what θ should be, it's probably 90 degrees
{% endembed %}

**Alternate Link:** [**https://html-7159868.codehs.me/torque.html**](https://html-7159868.codehs.me/torque.html)

**Gear Ratios**

Gears are obviously a very important part of how a robot moves and its functions work, however when using gears calculations have to made to determine the gear ratio.

As shown in the example below, there is usually one gear driving and then the rest are driven by that gear. In this scenario like many there is one smaller gear and another larger one.

<div align="center"><figure><img src="https://4082406191-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEGjozuVhiXJ51GOE7zdd%2Fuploads%2F0A7TFEQhiYos1D3bg1ze%2Fgear_ratio2.png?alt=media&amp;token=78549121-eff9-4a73-b42a-60dc20eaa38e" alt=""><figcaption></figcaption></figure> <figure><img src="https://4082406191-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FEGjozuVhiXJ51GOE7zdd%2Fuploads%2Fqia2sJNga9ez5dvvQIaJ%2Fgearratio3.png?alt=media&amp;token=c3503df1-cecf-431a-b02e-e2152d7ce8a7" alt=""><figcaption></figcaption></figure></div>

The gears in VEX are always made in proportion to the number of teeth. The ratio of the teeth in each gear is known as the gear ratio and this is determined based on the ratio of speed to torque that is needed. With gears the speed and torque are inversely related. As shown in the diagram, when the driving gear is larger (has more teeth) than the driven gear the speed is increased however the torque is decrease. The same is true vice versa. When the smaller gear is driving, the torque is increased and the speed is decreased.&#x20;

This ratio is calculated using the following formula:

GEAR RATIO = (TEETH OF DRIVING GEAR) / (TEETH OF DRIVEN GEAR)

If the ratio is between 0 and 1, then the gear system has a torque advantage, but if the gear ratio is greater than 1, it has a speed advantage. Having a good balance between speed and torque is an important part of VEX Robotics.


---

# Agent Instructions
This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com.

## Querying This Documentation
If you need additional information that is not directly available in this page, you can query the documentation by asking a question.

Perform an HTTP GET request on the following URL with the `ask` and `goal` query parameters:

```
GET https://ascendrobotics.gitbook.io/ascend/other/physics/torque.md?ask=<question>&goal=<user_goal>
```

`ask` is the immediate question: it should be specific, self-contained, and written in natural language.
`goal` is what the user is ultimately trying to achieve, the reason they need the answer. Sharing it helps GitBook give you a better, more relevant answer. A goal is most helpful when it describes the outcome the user wants rather than restating the question. For example, with `ask=how do I create an API token`, a goal like `automate deployments from our CI pipeline` lets GitBook tailor the answer to that use case.

The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.