The torque can be added to a Unity object in 4 ways: Force Impulse Velocity Change Acceleration. However, I couldn't find ANY documentation on this after hours of search. There's nothing on the manual (explanatory) nor I could find anything on forums etc. Also: can anybody tell me why when I add a HINGE JOINT the axis is always broken by transverse forces? Shouldn't the object just stay in axis and just rotate? I'm really getting mad at this.