The formula of torque is given by:
τ = r x F
Where we have:
r: position vector from the origin to the object
F: force
The torque can also be determined by the rate of the change of angular momentum and the time:
τ = dL/dt
Where we have:
L: angular momentum
t: time
If we know the moment of inertia about axis O, then we can determine torque by using:
τo = Io · dω / dt
Where we have:
ω: angular speed
t: time