Launch condition parameters of thrown ball, such as linear and angular velocities, speed and direction, are crucial factors to evaluate the performance of pitching motion. Although previous studies have dealt with speed of pitched ball in the induced speed analysis based on equation of motion for pitching side upper limb and trunk model, the mechanism in the generation of angular velocity has been still not clear. Therefore, the purposes of this study were to propose a modelling method of fingers and to derive a formula for dynamic contributions of joint torques, gravitational force, and motion-dependent term (e.g. centrifugal force, Coriolis force, and Gyroscopic effect moment) to the generation of not only ball speed but also angular velocity of ball. Individual finger is modelled with two segments such as, base segment and an instantaneous virtual rigid segments consisting of distal and middle segments. The center of pressure on the ball, at which inertia force exerted on ball surface can cause translational and rotational movement of ball, is calculated through inverse dynamics for ball motion, and then is distributed into COPs at individual fingers through equilibrium equations about exerting force and moment with respect to ball COP location. Time-curves of joint torques at individual joint of pitching side upper limb including finger joints were obtained in this study. Furthermore, dynamic contributions to the ball velocities were derived from the combination of 1) the equations of motion for the individual segments, 2) the equations for constraint conditions arising from the connection of adjacent segments at joints, and 3) the equations for anatomical constraint axes at certain joints.