Roth IRA and 401K

Hi - two questions:

1-i have a roth IRA which i opened last year at 60 year-old, how long do i have to wait to make withdrawals without penalty or without the condition that i have to pay the amount withdrew back? Are these withdrawals taxed or tax-free?

2-will any withdrawals from my 401k be added to any social security benefits received and both taxed?