I certainly think it's better to avoid medication if you can manage without it, but only if you can manage without it. If you need to medication to cope with life then you absolutely should take it.
The problem is that mental problems frequently cause you to sleep badly, and of course that makes you tired. Then you have difficulty solving problems, that makes you feel worse and then you sleep even more badly. And you find yourself stuck ina vicious cycle.
The torque is still defined by $\tau = \mathbf r \times \mathbf F$
It's just that now these are three vectors because we are no longer confined to a plane.
You can choose any point on the axis. Different points on te axis will have a different $\mathbf r$, but when you take the cross product they'll give the same torque.