Quick answer: Godot 4 RigidBody3D rotation showing visible jitter when small torque applied? Integration step sees the small torque as zero some frames - apply impulse instead of force, or scale up.
Spinning gear: apply_torque(small_value) per frame. Gear rotates in fits and starts.
Use apply_torque_impulse
Impulses bypass the per-tick force integration. Cleaner for small adjustments.
Scale up force, dampen rotation
Apply larger torque; add angular damping. Net rotation similar; integration is stable.
Or set angular_velocity directly
Bypass torque entirely for known-target rotations. Set the velocity; let damping bring it down.
“Physics integrators have noise thresholds. Small inputs disappear into the noise.”
If physics-driven motion feels jittery, the inputs are usually below the integrator's effective resolution. Scale up; damp; the smoothness returns.