Which term describes the act of threatening or using force while taking something away?

The act of threatening or using force while taking something away is accurately described by the term "robbery." Robbery involves taking property from a person or their immediate presence by means of force or intimidation. This distinguishes it from other crimes, such as burglary, which typically involves unlawfully entering a building with the intent to commit a crime inside but does not necessarily involve confrontation or force against another individual.

Shoplifting refers specifically to the theft of goods from a retail establishment without confrontation. Embezzlement, on the other hand, involves the misappropriation of funds placed in one's trust or belonging to one’s employer, typically occurring without direct physical confrontation. The key element in robbery is the use or threat of force against a person, making "robbery" the most fitting term for the act described in the question.