Unity has the Rigidbody.AddTorque method; there’s a few things I don’t understand about how this method works.

First of all, the reference says that the resulting rotation will be around the “torque axis”. Where is this torque axis specified?

Secondly, very important to torque is where is the force applied relative to the axis of rotation: T = Fr, where F is the force you apply and r the distance from the point of rotation. Where is this force applied in Unity?