No.
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No, objects do not have to touch for a force to be involved. Forces, such as gravitational or electromagnetic forces, can act between objects even when they are not in direct contact.
Contact forces, such as friction, normal force, tension, and applied force, only have an effect on objects they touch. These forces require physical contact between objects to manifest and influence the motion or deformation of the objects involved.
Friction is the force that opposes the motion of objects that touch as they pass. It acts in the opposite direction of the motion and depends on the surfaces in contact and the normal force pressing them together.
Objects that do not touch can still exert a force on each other through fields such as gravitational, electrical, or magnetic fields. These fields create a force that can act at a distance without physical contact between the objects.
No, electric force does not require objects to touch in order to act on each other. Objects with electric charge can exert attractive or repulsive forces on each other even when they are not in physical contact.
The force of gravity depends on the masses of the two objects involved and the distance between them. These factors determine the strength of the gravitational force between the objects.