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Electric dipole moment and torque in an electric field
An electric dipole consists of equal and opposite charges separated by a displacement. For charges $-q$ and $+q$, define the separation vector $\mathbf d$ to point from the negative charge to the positive charge.
The electric dipole moment is
$$\boxed{\mathbf p=q\mathbf d}.$$
Its direction is therefore from negative to positive charge. The SI unit of dipole moment is $\mathrm{C,m}$.
A dipole has zero net charge, but its separated positive and negative charges still create a nonzero electric field.
Field of a dipole
The dipole field is obtained by superposing the fields of its two charges:
$$\mathbf E(\mathbf r)=\mathbf E_{+}(\mathbf r)+\mathbf E_{-}(\mathbf r).$$
Near the charges, the detailed two-charge geometry matters. Far from a compact dipole, the fields of $+q$ and $-q$ nearly cancel, so the dipole field decreases faster with distance than the field of an isolated point charge.
The field-line pattern leaves the positive charge and curves toward the negative charge. Field lines visualize the direction of $\mathbf E$; they are not material connections between the charges.
Dipole in a uniform electric field
Place the dipole in a uniform external field $\mathbf E$. The positive charge feels
$$\mathbf F_+=q\mathbf E,$$
while the negative charge feels
$$\mathbf F_-=-q\mathbf E.$$
The forces cancel translationally:
$$\boxed{\mathbf F_{\rm net}=\mathbf0}.$$
However, if the dipole is not parallel to the field, the two forces act along different lines and form a couple that produces torque.
Let $\theta$ be the angle between $\mathbf p$ and $\mathbf E$. The torque magnitude is
$$\tau=qEd\sin\theta=pE\sin\theta,$$
so in vector form
$$\boxed{\boldsymbol\tau=\mathbf p\times\mathbf E}.$$
The torque tends to rotate the dipole so that $\mathbf p$ aligns with $\mathbf E$.
Stable and unstable orientations
If $\mathbf p$ is parallel to $\mathbf E$, then
$$\tau=0.$$
A small angular displacement produces a torque that tends to restore the parallel orientation, so it is stable.
If $\mathbf p$ is antiparallel to $\mathbf E$, the torque is also zero, but a small angular displacement makes the dipole rotate farther away from that orientation. The antiparallel orientation is unstable.
Worked example
A dipole has charges
$$q=2.0\times10^{-9},\mathrm C$$
separated by
$$d=3.0\times10^{-3},\mathrm m.$$
Its dipole moment magnitude is
$$p=qd=(2.0\times10^{-9})(3.0\times10^{-3}) =6.0\times10^{-12},\mathrm{C,m}.$$
Place it in a uniform field
$$E=5.0\times10^4,\mathrm{N/C}$$
at angle
$$\theta=30^\circ.$$
The torque magnitude is
$$\tau=pE\sin\theta =(6.0\times10^{-12})(5.0\times10^4)(0.5) =1.5\times10^{-7},\mathrm{N,m}.$$
Thus
$$\boxed{\tau=1.5\times10^{-7},\mathrm{N,m}}.$$
Nonuniform fields
In a nonuniform electric field, the fields at the two charges are not exactly equal. The two electric forces then need not cancel, so a dipole can experience both torque and a net force.
This distinction is important: a uniform field can rotate a dipole without translating its center of mass, while a spatial field gradient can also pull the dipole toward or away from regions of stronger field depending on its orientation.