If you want to obtain a joint moment, the approach is called "inverse dynamics". In this regard, you need to calculate each segment's position, velocity and acceleration.
Several papers can help you, but I suggest starting with these books:
The Comprehensive Textbook of Clinical Biomechanics
Biomechanics and Motor control of human movement
Research method in Biomechanics.
In these books, you can find specific chapters for understanding inverse dynamics.