This work aims to model the acoustic radiation forces acting on an elastic sphere placed in an inviscid fluid. An expression of the axial and transverse forces exerted on the sphere is derived. The analysis is based on the scattering of an arbitrary acoustic field expanded in the spherical coordinate system centered on the spherical scatterer. The sphere is allowed to be arbitrarily located. The special case of high order Bessel beams, acoustical vortices, are considered. These types of beams have a helicoidal wave front, i.e., a screw-type phase singularity and hence, the beam has a central dark core of zero amplitude surrounded by an intense ring. Depending on the sphere's radius, different radial equilibrium positions may exist and the sphere can be set in rotation around the beam axis by an azimuthal force. This confirms the pseudo-angular moment transfer from the beam to the sphere. Cases where the axial force is directed opposite to the direction of the beam propagation are investigated and the potential use of Bessel beams as tractor beams is demonstrated. Numerical results provide an impetus for further designing acoustical tweezers for potential applications in particle entrapment and remote controlled manipulation. (C) 2013 Acoustical Society of America. [http://dx.doi.org/10.1121/1.4770256]