You can take a Roth IRA distribution on your contributions at any time without penalty or taxes. If you wish to withdraw your Roth IRA earnings, however, there are certain circumstances where there are no taxes or penalties: You already met the age test: age 59.5 or older, plus Your Roth IRA account must be active for five years or more.
Roth distributions do not count as income for Social Security because they are not taxable and therefore will not cause Social Security benefits to be taxable.
401k withdrawals count as taxable income for Social Security because contributions to your 401(k) are made with compensation received from employment. However: you have already paid Social Security taxes on that income. You will owe income tax on 401(k) distributions when you take them, but not any Social Security tax.
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