This table gives some examples. The last column gives the typical range of values for a normal road car. Velocity has the same magnitude as speed, but is associated with a direction. A car moving in a circle may have a constant speed, but it has a changing velocity. Mass is often referred to as weight.
Weight is the force exerted by a mass due to the earth's gravitational pull.
In SI units, torque is quoted in Nm, but this must not be confused with Joules.