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).

Collinear forces act along the same line of action, concurrent forces pass through a common point and coplanar forces act in a common plane.

Tension is a force that stretches or elongates something. When a cable or rope is used to pull an object, for example, it stretches internally as it accepts the weight that it's moving. Although tension is often treated as applying equally to all parts of a material, it's greater at the places where the material is under the most stress.

Static friction is friction between two or more solid objects that are not moving relative to each other. An example is the friction that prevents a box on a sloped surface from sliding farther down the surface.

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. By definition, work is the displacement of an object resulting from applied force.