Soil-dwelling organisms have evolved diverse strategies for efficient subterranean movement. For example, the seeds of Erodium cicutarium and Pelargonium species employ continuous rotational motion for self-burial, while the angled worm lizard Agamodon angeliceps tunnels by oscillating its head around its trunk's axis. These rotational movements significantly reduce penetration resistance. This study presents comprehensive experiments investigating the effects of various factors on rotational penetration forces and energy consumption. Results reveal that force reduction follow an approximately hyperbolic decay with the tangential-to-axial velocity ratio ($u$). Penetrator geometry, particularly roundness and conical tip shape, is found to significantly influence reduction at low velocity ratios, whereas relative density and material type exhibit moderate impact. Reduction is also observed to increase with interfacial friction angle but decreases with confining pressure and depth. Energy consumption analysis shows that while penetration force-related energy decreases with $u$, total energy consumption increases due to rotational torque. For self-burrowing robot designs, lower velocity ratios are recommended to balance penetration force reduction and energy efficiency effectively.