Kinesthetic experiences in the classroom seek to engage students by muscle movement, touch, or some form of physical activity. In this article, I describe an active learning session wherein students develop a qualitative understanding of center of mass and support forces using their sense of touch. The set of activities detailed here is based on a demonstration traditionally done by the instructor. When students conduct an in-class inquiry as opposed to watching passively, their excitement and enthusiasm can help them better understand the relationship between seemingly disconnected concepts of torque and friction.