If I have a rigid rod and I apply a force $\vec F$ distance $r$ away from the centre of mass the torque on the rod is $\vec r \times \vec F$ from the centre of mass and the torque causes the rod to have a proportional angular acceleration.
So could the laws $$\vec \tau = \vec r \times \vec F, \quad \vec \tau = I \vec \alpha$$
be explained by looking at each point in the rod which obey Newton's Laws and are pulling at each other through intermolecular forces?
