  Maxwell's macroscopic equations combined with a generalized form of the
Lorentz law of force are a complete and consistent set of equations. Not only
are these five equations fully compatible with special relativity, they also
conform with conservation laws of energy, momentum, and angular momentum. We
demonstrate consistency with the conservation laws by showing that, when a beam
of light enters a magnetic dielectric, a fraction of the incident linear (or
angular) momentum pours into the medium at a rate determined by the Abraham
momentum density, ExH/c^2, and the group velocity V_g of the electromagnetic
field. The balance of the incident, reflected, and transmitted momenta is
subsequently transferred to the medium as force (or torque) at the leading edge
of the beam, which propagates through the medium with velocity V_g. Our
analysis does not require "hidden" momenta to comply with the conservation
laws, nor does it dissolve into ambiguities with regard to the nature of
electromagnetic momentum in ponderable media. The linear and angular momenta of
the electromagnetic field are clearly associated with the Abraham momentum, and
the phase and group refractive indices (n_p and n_g) play distinct yet
definitive roles in the expressions of force, torque, and momentum densities.
