Of course, the concept of Vector Cross Product was invented to take geometry into account. And, it allows you to express it using less words 
Thanks a lot! that fixed the constant output I was receiving, If you couldn't already tell I'm an Arduino Noob!
Sorry tom I unfortunately don't have any specs as I've been handed someone's work, but the constant output problem has been solved and I've made a test bench now to apply torque and calibrate it (yes I know its not the best method and will have errors but its just a quick and dirty solution)
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