in very simple language :
1-SOAP : is an standard which define , how should messages that come from entity to another entity looks like. it define the structure of xml file that contain web service request and response.
so when you execute a web service you send the service container a message in soap format and the result of execution will come back in SOAP format.
XML-RPC and RPC are two method of calling a remote method :-) , it means that you can use XML-RPC or RPC to call a method in a remote computer.
XML-RPC will use XML as Transfering mechanism.
2-web service can use SOAP+XML-RPC together . they use XML-RPC as a calling mechanism and SOAP as a transportation format for messages.
3- it is very wide topic , take a look at :
www.ibm.com/developerworks/library/ws-secure/ www.ws-i.org/