When do you get a zero torque with respect to an acting force and the point of reference
By symmetry, the torque is equal but opposite when the force's line of action is one foot to the left of the pivot point and one foot to the right.
The torques diminish as you bring the two lines of action closer to the pivot point while staying equal but opposing.
When the two lines of action intersect at the pivot point, they remain equal but opposing. They will now be equal, though, since they are at the same location on the pivot point, which is only conceivable with zero torque.
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