How do I properly use body forces on Roblox?

So I'm tring to make an obby game, that i have rotating and moving parts. For these, I use BodyGyro, BodyPosition and BodyAngularVelocity. But can someone tell me how to use them properly, how to know how much forces is needed to applie?

I don't wan't to just type random numbers and hope I get lucky, I wan't to know if there's any formula or any way of calculating the needed forces, like power, dampening, maxforce and maxtorque.

Thanks!