Forces acting parallel to the axis of rotation do not generate torque because torque is defined as the tendency of a force to cause rotation around an axis, which relies on the angle between the force vector and the distance vector. The discussion clarifies that only forces acting perpendicular to the axis, such as tangential forces, can produce torque, while axial and radial forces do not contribute to rotation about that axis. The torque equation, t = r × f, indicates that if the angle between the radius vector and the force is zero, the torque is zero. Forces parallel to the axis may cause rotation, but around a different axis that is not aligned with the original axis of rotation. Understanding these principles is crucial for analyzing rotational dynamics effectively.