Newton–Euler equations

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Classical mechanics
${\displaystyle {\textbf {F}}={\frac {d\mathbf {p} }{dt}}}$ Second law of motion
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In classical mechanics, the Newton–Euler equations describe the combined translational and rotational dynamics of a rigid body.

Traditionally the Newton–Euler equations is the grouping together of Euler's two laws of motion for a rigid body into a single equation with 6 components, using column vectors and matrices. These laws relate the motion of the center of gravity of a rigid body with the sum of forces and torques (or synonymously moments) acting on the rigid body.