Yes, you are right about |V x U| = 0 -> no torque ( http://prntscr.com/g432th ). But if it's not - I need to compensate the torque somehow. So I need to know power (force) of the torque as well as its direction. |V x U| looks pretty much like torque force, but vector V x U definitely point towards the wrong direction. I guess to get the torque direction we need to project vector U on a surface built by point (CoM + V) and vector V. Am I right?
And yes, the language barrier is a problem to some degree, but math is our language! )))
It's not really connected to KSP. And Throttle Controlled Avionics is using aerodynamics and gravity. I don't need those.
What about equilibrium or dynamic... well... if I'll get equilibrium each few frames it becomes dynamic, isn't it?