George Berkeley
Berkeley argued that forces and gravity, as defined by Newton, constituted "occult qualities" that "expressed nothing distinctly". He held that those who posited "something unknown in a body of which they have no idea and which they call the principle of motion, are in fact simply stating that the principle of motion is unknown." Therefore, those who "affirm that active force, action, and the principle of motion are really in bodies are adopting an opinion not based on experience." Forces and gravity existed nowhere in the phenomenal world. On the other hand, if they resided in the category of "soul" or "incorporeal thing", they "do not properly belong to physics" as a matter. Berkeley thus concluded that forces lay beyond any kind of empirical observation and could not be a part of proper science. He proposed his theory of signs as a means to explain motion and matter without reference to the "occult qualities" of force and gravity.
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.