reycreator17:
Is lifting 5 kg (y, z coordinate) with a lever arm of 4 cm just be the same as carrying 5 kg (x, y coordinate) using wheels?
No. There is no comparison between the two.
Lifting something involves fighting gravity.
Moving something sideways requires fighting friction - and the force necessary to accelerate from zero to the chosen speed. Think how one person can move a 14 tonne boat on water but could not possibly lift it even 1 millimetre.
You can work out the acceleration forces with the formula F = MA where M is the mass. But you will need to measure the friction force.
There is a simple suggestion for measuring torque in Stepper Motor Basics. It could be adapted to measure a linear force.
...R