Hi Ramamurthy,

In rotational equilibrium, the some of the torque is equal to zero and the SI unit of torque is Newton-meter which is also a way of expressing a joule ( the unit for energy).

Here are some units of dimensions:-

Primary dimensions          SI unit

1.mass                                 kilogramme

2. Length                            Meter

3.time                                  seconds

4. Temperature.                 Kelvin

Hope this information help you.