A baseball thrown by a pitcher will follow projectile motion. A projectile motion is a parabola. A torque needs an axis of rotation. A torque is defined as the force times the perpendicular distance. In equilibrium , all forces and all torques should be balanced.
Rotational inertia is proportional to the mass times the square of the distance from the axis.
Center of mass . The balance point of an object. Stable equilibrium . If an object is disturbed, the center of mass goes up.