hmmm....lets make it this way
For a motor Torque equation
T(motor) = T(Load) + J(dw/dt) + T(friction)
Anyone know how to calculate the T(Load)?
Izzit the same calculation way as Mr.ericgibbs mention above?
By having the information:
assume a 13cm(length) x 9cm(width) x 9cm(height) [Rectangular Solid Body]
with a mass of 1 Kg
You have to find the center of the mass and measure how far (horizontally) the center of the mass is from the pivot. If it's 15cm then the torque is 15(cm)*1(kg) = 15kgcm.