Summary: Formulae are derived for computing hydrodynamic forces on a submerged rigid body under the assumption that the governing equations for the fluid flow are the steady Navier-Stokes equations. Two new formulae relating the far field behavior of the pressure, the stress vector and either the inertial force term on the rigid body or the velocity behavior in the far field are obtained. Combining these results it is possible to evaluate the hydrodynamic forces solely in terms of the velocity in the far field and a convective inertial force term on the rigid body.