Torque, in particular, is always a concept that has confused me. Can the rules related to torque be derived or are they natural tendencies? (For lack of a better way to phrase this). For example, if I were trying to solve the problem of a ladder leaning against a frictionless wall, where I know the mass of the ladder and am trying to find the coefficient of friction between the ladder and the ground, would there be a way to derive the solution to this without knowing anything about torque and rotational dynamics? I understand that using torque works, but I don't understand why, and every textbook I've looked at hasn't made it clear to me.... This same type of question applies to all of rotational dynamics... Thanks!