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$ \vec F= q \vec E + q\vec v \times \vec B$
The Lorentz force law completes classical electromagnetic and describes the effect of electric and magnetic fields on a point charge.
In addition, the Maxwell equations tells us how charges give rise to electric and magnetic fields.
The classical mechanics of an electron propagating in an electromagnetic field on a spacetime X is all encoded in a differential 2-form on X, called the Faraday tensor F, which encodes the classical Lorentz force that the electromagnetic field exerts on the electron.https://arxiv.org/abs/1601.05956
For a derivation, using the Ehrenfest theorem, see http://www.physics.drexel.edu/~bob/PHYS517/Ehrenfest.pdf