Why do i need antivirus if i have Firewall??

I am using Windows XP service pack 2 in which i have seen a option of a firewall system. And i made it On for my PC security. Now I have a antivirus ESET nod32 version 4.2 which i want to use in My PC. But the question is, Is it necessary to use an antivirus though i have make the firewall ON.
What is the differences between the activity of the firewall and the Antivirus. Which one is best for the security of my PC. What are the Jobs of the Firewall and Antivirus? Can firewall kill any virus? Or resist any virus coming from any other device like Pen-drive, CD or DVD drive?
If firewall does not able to kill any virus then what is its importance? I like to know about all those things please someone describe it so i can understand which one is more important.
