Not exactly easy to understand if you have no background knowlage in math and physic, but wikipedia about couple of forces and about torque is good start. Basicaly, if you put in consideration rotation only on one axis (either of putch,yaw or roll), you can sum up all of forces that act on your craft to only one force vector on some distance from COM. One for each side of distance from COM, actualy. You need to sum up all other forces into other force vector that act on oposite side from CO
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