Calculating Linear Force from Motor Torque?

[AdamHeard]

I'll give a half answer, as I wager you can figure it out from there (and you gain more insight that way!).

Torque = Force x Distance

This is the perpendicular distance from force to the point of rotation.

The next step of course is to determine whether or not it's appropriate to use the motor's stall Torque for such calculations. And if not, what Torque would you use?