I want to make rolling cube like dice that reacts on accelerometer. So accelerometer gives parameters for cube moving. I think that small physic should be used here. My question is what formulas, techniques should I use to accomplish this without any physics engine.
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You will need probably to use OpenGL for that. There a good physics tutorial for OGL here
Specifically for dice, take a look at this nokia demo. It's written in cpp (source here)
On the physics side, you can take a look at this site.
Anyhow, I do not think you need real physics for the app, but just an approximation: