You can do it by transforming the Torque in terms of Load and distance or there is option to put the moment.. As per your requirement u can choose the direction of load or moment..

I can advice to add a reference point (abaqus option) and create a connector link from the face were the torque is applied and the reference point. Then you apply a load (torque) to the ref point which is transmitted to the part.

Apply reference point and build kinematic coupling then apply torque

Checkout the CAE User Manual for crank mechanism example modeled with connectors this uses universal joints for rotation and translates to linear motion through various connectors.