hibernate is an Object Relation Mapping (ORM) tool. It is used to store Objects in a relational database.
DBCP is a DataBase Connection Pool. It helps to manage Database connections (Connnections are expensive to create so prepare some and keep them ready before the application needs them might save some time).
Torque is the O/R mapping component of Turbine, it is as similar to Hibernate as a flint knife is to an assault rifle. I've used it. Compared to Hibernate and JDO it's primitive and temperamental. Don't use it.
If you want to stay away from full blown O/R mapping have a look at the Spring JDBC template or iBatis.