I am relatively new to game development. May my terminology and description are not appropriate. Please excuse my poor phrasing and help me by giving advice on how to question better if this question seems less fitting. I really appreciate your efforts. Hi. I am having hard time interpreting the set of values I have. I have inertia and force(torque) in terms of x y z. FYI I used x and y coordinates as my ground, flat coordinates and z as my up/down. I am assuming that since f = ma, that angular acceleration must be a = f / m. So I divide my torque by inertia. Then I add those x y z values to my angular velocity variable's x y z. However these x y z values confuse me. Don't I need angle/sec or radian/sec sort of values in order to apply rotation? The x y z values I have seemed to not say anything about radians or angular movement. Question : If I have ( 1, 2, 3 ) or any ( x, y, z ) as my angular velocity, how do I actually apply it as angular movement? FYI Here I am pasting my code : float mass = 100; float devidedMass = 1.0/12 * mass; Vec3 innertia( devidedMass* (_box._size.z*_box._size.z + _box._size.x*_box._size.x), devidedMass* (_box._size.y*_box._size.y + _box._size.x*_box._size.x), devidedMass* (_box._size.y*_box._size.y + _box._size.z*_box._size.z )); box._angAccel += forceAng/innertia; box._angVelo += box._angAccel; box._angAccel.allZero(); source of my inertia calculation http://www.health.uottawa.ca/biomech/courses/apa4311/solids.pdf