  Motivated by recent experiments observing spin-orbit torque (SOT) acting on
the magnetization $\vec{m}$ of a ferromagnetic (F) overlayer on the surface of
a three-dimensional topological insulator (TI), we investigate the origin of
the SOT and the magnetization dynamics in such systems. We predict that lateral
F/TI bilayers of finite length, sandwiched between two normal metal leads, will
generate a large antidamping-like SOT per very low charge current injected
parallel to the interface. The large values of antidamping-like SOT are {\it
spatially localized} around the transverse edges of the F overlayer. Our
analysis is based on adiabatic expansion (to first order in $\partial
\vec{m}/\partial t$) of time-dependent nonequilibrium Green functions (NEGFs),
describing electrons pushed out of equilibrium both by the applied bias voltage
and by the slow variation of a classical degree of freedom [such as
$\vec{m}(t)$]. From it we extract formulas for spin torque and charge pumping,
which show that they are reciprocal effects to each other, as well as Gilbert
damping in the presence of SO coupling. The NEGF-based formula for SOT
naturally splits into four components, determined by their behavior (even or
odd) under the time and bias voltage reversal. Their complex angular dependence
is delineated and employed within Landau-Lifshitz-Gilbert simulations of
magnetization dynamics in order to demonstrate capability of the predicted SOT
to efficiently switch $\vec{m}$ of a perpendicularly magnetized F overlayer.
