Relation between linear velocity and angular velocity is (\vec v = \vec ω \times \vec r) where V is the linear velocity and co is the angular velocity and r is the radius of rotation.
We know (\vec L = \vec ω \times \vec p.....(1))
where, L is angular momentum, r is radius of rotation and p is linear momentum of the particle. Differentiating (1) with respect to time,
Thus torque is rate of change of angular momentum.