The force exerted by a rotating propeller of a quadcopter or helicopter is dependent on a number of factors such as the size and shape of the propeller, the rotational speed, and the air density. The most common way to model the force exerted by a propeller is through the use of a momentum theory, which relates the thrust produced by a propeller to the rate of change of momentum of the air. The most common expression for the thrust produced by a propeller is given by the following equation:
Thrust = (2 * π * r^2 * ρ * n^2 * J) / (V)
Where: r = radius of the propeller n = rotational speed of the propeller (revolutions per second) V = air velocity J = advance ratio ρ = air density
This is a simplified equation, the actual thrust of a propeller can be computed more accurately by using more detailed models such as blade element theory, momentum theory, and actuator disk theory, that take into account the effect of the blade geometry, the airfoil section, and the flow around the blades.
This equation can be found in many references such as "Aerodynamics for Engineers" by John D. Anderson Jr. "Helicopter Theory" by Wayne Johnson "Introduction to Flight" by John D. Anderson Jr.
It's worth noting that this equation is a simplified version of the thrust equation, the actual thrust produced by a propeller can be computed more accurately by using more detailed models such as blade element theory, momentum theory, and actuator disk theory, that take into account the effect of the blade geometry, the airfoil section, and the flow around the blades.