Let there be many particles having momenta
Now it arises due to two types of sources-particles within the system boundary and the particles outside the boundary of the system. Let be the force exerted by internal particles.We call it internal force.
Let vector Fiext be the force exerted by external particle; we call it external force. Then
It is experimentally found that internal torque can’t change angular momentum of the system.
The rate of change of angular momentum of a system of particles about a point in an internal reference frame is equal to net external torque about the same point.
Taking Z-component of the above relationship (equation -iv) we get
The external torque acting on a rigid body about an axis is equal to the product of moment of inertia and angular acceleration about the same axis.