The more mass a substance has the more force is required to move it or to change its direction. This resistance to changes in direction is known as inertia.

The Joule (J) is the standard unit of energy and has the unit \({kg \times m^2} \over s^2\).

Mass is a measure of the amount of matter in an object. In general, larger objects have larger mass than smaller objects but mass ultimately depends on how compact (dense) a substance is.

Torque measures force applied during rotation: τ = rF. Torque (τ, the Greek letter tau) = the radius of the lever arm (r) multiplied by the force (F) applied. Radius is measured from the center of rotation or fulcrum to the point at which the perpendicular force is being applied. The resulting unit for torque is newton-meter (N-m) or foot-pound (ft-lb).

Work is accomplished when force is applied to an object: W = Fd where F is force in newtons (N) and d is distance in meters (m). Thus, the more force that must be applied to move an object, the more work is done and the farther an object is moved by exerting force, the more work is done.