When a rotor spins it produces thrust(F) and also induces moment(M)(torque) both are measured by radians/sec with omega(ω).
The moment induced is in the counter direction(A.K.A yaw – which is rotation around the Z value)
when ω is 2*PI the rotor is doing 1 full rotation per second.
The formulas for measuring the Moment and the Thrust, where kF and Km are constants depending on size and shape of rotors and surrounding constant properties such as local air friction:
F=kFω²
M = kMω²
