Ok, so I figured out my last problem, but I''ve got another one that I can''t figure out. YES I have searched google, and the gamedev.net forums. Once again, I have a box. I know how to calculate the moment of inertia for an object for the x, y, and z axis with this: MomentOfInertia.x = (1/12)(M)(a^2 + b^2) and so on for y. And to calculate the angular acceleration of the box, I would use: AngularAcceleration = NetTorque / MomentOfInertia; But since the box won''t always be rotating along a single axis, and the moment of inertia depends on the axis of rotation, how would I do this? Thanks in advance.

you have to use an inertia tensor(3x3 matrix) and torque(a vector, which can easily be represented by a matrix, one guess as to its dimensions)

500 x1

Ok, I did a little research on your reply.

So to make the tensor (3x3 matrix) it would be:
( I = MomentOfIntertia )

[ I.x 0 0 ]
[ 0 I.y 0 ]
[ 0 0 I.z ]

Then multiply the Torque vector into it. Am I correct so far? Then I would end up with a vector form of angular acceleration, right?

Thanks for the help so far.

http://www-2.cs.cmu.edu/~baraff/pbm/rigid1.pdf
http://www-2.cs.cmu.edu/~baraff/pbm/rigid2.pdf

Those are some great links! Thanks!