Circular motion is associated with a centripetal force . Rotational motion is associated with torque. Rotation is always when a body moves on its own axis .Circular when the body moves around some other body.Rotatory motion is when a body spins around its centre of gravity or its own axis.Circular motion is due to centripetal force, while rotatory motion involves torque .The circular motion revolves around another body, while rotatory motion, is in its own axis.