Angular acceleration is a function of torque AND SPEED and thus is "power." This is controlled by some mechanical engineering formulas, which in turn derive from Newton's equations for force, torque, and speed, as well as from the back EMF generated in the motor as it spins faster.

Torque can be applied against a stationary position, which happens all the time if you stall the motor, so acceleration is not necesarily correlated with torque.

The data sheet for the MX-64 has a current/torque/speed curve.

http://support.robotis.com/en/produc...ries/mx-64.htm
If you read (or set) the current, and speed, you can use an approximation of that chart to approximate the torque in N.m.

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