Force
Sir Isaac Newton described the motion of all objects using the concepts of inertia and force, and in doing so he found they obey certain conservation laws. In 1687, Newton published his thesis "Philosophiæ Naturalis Principia Mathematica". In this work Newton set out three laws of motion that to this day are the way forces are described in physics.
History of centrifugal and centripetal forces
It wasn't until the latter half of the 18th century that the modern "fictitious force" understanding of the centrifugal force as a pseudo-force artifact of rotating reference frames took shape. In a 1746 memoir by Daniel Bernoulli, "the idea that the centrifugal force is fictitious emerges unmistakably." Bernoulli, in seeking to describe the motion of an object relative to an arbitrary point, showed that the magnitude of the centrifugal force depended on which arbitrary point was chosen to measure circular motion about. Later in the 18th century Joseph Louis Lagrange in his "Mécanique Analytique" explicitly stated that the centrifugal force depends on the rotation of a system of perpendicular axes. 
In 1835, Gaspard-Gustave Coriolis analyzed arbitrary motion in rotating systems, specifically in relation to waterwheels. He coined the phrase "compound centrifugal force" for a term which bore a similar mathematical expression to that of centrifugal force, albeit that it was multiplied by a factor of two. 
The force in question was perpendicular to both the velocity of an object relative to a rotating frame of reference and the axis of rotation of the frame. Compound centrifugal force eventually came to be known as the Coriolis Force.