Torque:A measure of the force that can cause an object to rotate about an axis. It is calculated as the product of the force and the lever arm distance from the axis: $\tau = r \times F$.
Normal Force:The perpendicular contact force exerted by a surface on another object. It acts opposite to gravitational force.
Center of Mass:The point where the mass of an object is considered to be concentrated. In uniform gravity, it coincides with the center of gravity.