We first discussed centers of mass and gravity. We discussed how an object's centers of mass and gravity can be different, depending on the height of the object and the lever arm of each side. The torque, not the mass, of each side had to be in equilibrium to balance.
We discussed torque, which is the lever arm of an object, multiplied by its mass. If an object has a low mass, it can still have a higher torque than one with a large mass. To quote Archimedes, "give me a long enough lever, and a place to rest it on, and I can move the world."
Angular momentum is the momentum of an object moving in a circular path. The product of the mass multiplied by the radius multiplied by the velocity remains constant. This allows us to calculate how two of those figures change if one remains constant. For example, if the radius remains constant, the velocity and mass are inversely proportionate.
Rotational velocity is velocity in a circle. The magnitude of this velocity remains constant if no outside forces act on the object. However, the direction constantly changes. If it did not, the object would fly off in a path tangential to the circle.
Centripetal force is any force that pulls an object into the center of the circle. This may be tension, friction, or gravity. This keeps cans tied to strings going in circles, satellites in orbit, and cars in turns on the road.
Centrifugal force is not a real force. Instead, it is a term for an object's inertia causing the object to continue on its straight line path while being pulled into a circle. For more information, see the rotational velocity paragraph.