A torque is a twisting force. It is a force that tends to induce rotary motion rather than straight line motion. Torques are typically measured in lb-ft. Thus, if we pull on a one-foot long wrench with a force of 100 lbs. The same torque is generated by 50 lbs.
Friction is a special kind of force produced by two bodies that are in contact.
If a book is at rest on a desk and we try to push it, our efforts are resisted by what is known as static friction. Once we get it moving, if we stop pushing it, it comes to rest almost immediately. The retarding or stopping force is known as dynamic friction. Rolling Friction is the relatively low retarding force associated with the free rolling of objects, e.g. tires. Sliding friction is much greater than rolling friction and occurs whenever two objects in contact move with respect to one another without the benefit of any revolving elements.