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The interaction between a permanent magnet (PM) assumed as a magnetic dipole and a flat high-temperature su-perconductor (HTS) is calculated by the advanced frozen-image model.When the dipole vertically moves above the semi-infinite HTS,the general analytical expression of vertical force and that of torque are obtained for an arbitrary angle between the magnetization direction of the PM and the c axis of the HTS.The variations of the force and torque are analyzed for angle and vertical movements in both zero-field cooling (ZFC) condition and field cooling (FC) condition.It is found that the maximum vertical repulsive or attractive force has the positive or negative cosine relation with the angle.However,the maximum torque has the positive or negative sine relation.From the viewpoint of the rotational equilibrium,the orientation of the magnetic dipole with zero angle is deemed to be an unstable equilibrium point in ZFC,but the same orientation is considered as a stable equilibrium point in FC.In addition,both of the variation cycles of the maximum force and torque with the angle are π.