Calculating angular acceleration from net torque/moment and a rectangular part

Hello, just wanted to ask if anyone has seen or done a similar task as the title states.

The purpose of calculating angular acceleration is for a physics substepping algorithm related to raycast suspension vehicles which is needed to predict the suspension forces in the future which will make it stable at low fps. I tried it before but I assumed that it was just mass like F = ma and forgot it was inertia τ = I* alpha.

Havent done my research yet believe its related to moment of inertia and tensors for 3D which I havent studied yet but please let me know if you have done a similar project in roblox lua as it would help greatly.

Its a bit late at night, hopefully ill get back soon.

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