For questions involving the Lagrangian formulation of a dynamical system. Namely, the application of an action principle to a suitably chosen Lagrangian or Lagrangian Density in order to obtain the equations of motion of the system.

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What is a “Reversed Effective Force”?

I have some confusion about the "Reversed effective force" as it appears in the derivation of D'Alembert's principle. In Goldstein d'Alembert's principle is given as: $(F-\dot{p}) \cdot \delta r = ...