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You can read the Wikipedia article on torque, look for other online articles about torque, or read a physics school book - look for the chapters about rotational movement. It is important that you first understand the physics of linear motion - especially Newton's laws of motion, since this is very similar, and physics books will most likely use linear motion as an analogy.
Briefly, the rotational equivalent of Newton's second law (F=ma) is:
(torque) = (moment of inertia) x (angular acceleration)
Torque is expressed in newton-meters, and it is the product of a force, times the distance from the axis of rotation (times an angle function, if the two are not at right angles). For example, less force at a greater distance, from the axis of rotation, can have the same effect.
