Using a CAD model you can get the system inertia, if the materials are correct, in turn acceleration rate required will allow a calculation of torque needed to acceleration (Torque = Inertia * acceleration rate). Friction is much more complicated. If there is an existing or similar system you can put a torque wrench on it, if not you need to use information from bearing suppliers (which tend to be conservative). Total torque is typically covered by these two. There is occasionally viscous friction (damping) torque, which is also similar to windage torque that is present that is proportional to speed.