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For a module $M$ over an integral domain $R$, a torsion element is an $m\in M$ with $rm=0$ for some $0\ne r\in R$. This includes zero. Equivalently, its annihilator ${\mathrm{Ann}}_R(m)=\{r\in R:rm=0\}$ is a nonzero ideal. The torsion elements of a module form the torsion submodule.

For $M=\mathbb{Z}/6\mathbb{Z}$, computed annihilators areFor these three elements, the additive order of a group element is respectively $6$, $3$, and $2$: these are the smallest positive integers killing them. Torsion over $\mathbb{Z}$ agrees exactly with finite additive order of a group element. Over a general integral domain, torsion concerns the chosen scalars instead; the polynomial module from a linear operator gives a torsion example whose nonzero elements have infinite additive order of a group element.

A torsion module over an integral domain $R$ is a module in which every element is a torsion element of a module. Each element may require a different nonzero annihilating scalar. The module $\mathbb{Z}/6\mathbb{Z}$ is torsion over $\mathbb{Z}$, and the polynomial module from a linear operator $\mathbb{Q}[t]/(t^2)$ is torsion over $\mathbb{Q}[t]$.

If the torsion module is a finitely generated module, one common nonzero scalar kills the whole module: multiply annihilating scalars for a finite generating set. Without finite generation this can fail. The quotient module $\mathbb{Q}/\mathbb{Z}$ is torsion, since the class of $a/b$ is killed by $b$, but no nonzero integer $n$ kills it all: the class of $1/(2|n|)$ survives multiplication by $n$. See Keith Conrad's Modules over a PID, exercise 6.5(c).