In figure a, a ball is lying on a flat surface and the point of contact with the surface is labeled pivot point. The weight of the ball is acting at the center of gravity of the ball. The normal force N is in the same line as the weight of the ball. The torque on the ball is zero. In figure b, a side view of a pencil lying flat on a table is shown. The sharp end of the pencil is toward right. The weight of the pencil is acting at the center of gravity of the pencil. The normal reaction N of the table surface is in the same line of action as the weight but in the upward direction.