We present a comprehensive numerical study of the dynamics of relativistic axisymmetric accretion tori with a power-law distribution of specific angular momentum orbiting in the background spacetime of a Kerr black hole. By combining general relativistic hydrodynamics simulations with a linear perturbative approach we investigate the main dynamical properties of these objects over a large parameter space. The astrophysical implications of our results extend and improve two interesting results that have been recently reported in the literature. Firstly, the induced quasi-periodic variation of the mass quadrupole moment makes relativistic tori of nuclear matter densities, as those formed during the last stages of binary neutron star mergers, promising sources of gravitational radiation, potentially detectable by interferometric instruments. Secondly, $p$-mode oscillations in relativistic tori of low rest-mass densities could be used to explain high frequency quasi-periodic oscillations observed in X-ray binaries containing a black hole candidate under conditions more generic than those considered so far.
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