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He used a torsional device to accurately measure force. He'd hook one charged spherical ball onto the torsional device then place another charged sphere a distance away from the other. The electrical force would push the sphere on the torsional device and he would measure the tension change. This gave him a measurable force.

As for describing the torsional device, think of a ball held in the air tied on both top and bottom by a string. By tightening the string until it negates gravity (hold it so the strings are parallel to the ground then tighten till it the ball is centered.) Then when the electrical force is applied, you can measure the force needed to tighten it to return to the center again.

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