\vec{F} = -2m(\vec{\omega} \times \vec{v}')

\vec{c}= \vec{a} \times \vec{b}= \begin{vmatrix} \vec{u}_x & \vec{u}_y & \vec{u}_z \\ a_x & a_y & a_z \\ b_x & b_y & b_z \end{vmatrix}