Force can be defined physically as follows: Force is something that can cause changes in a body. To know how much force you apply, you can use the mathematical relation, F=ma. The relation does not say what changes happen to the body (whether its speed changes, whether there is an energy transfer, etc.). It tells only that the force applied is enough to create a certain acceleration.

For example, in the case of a body orbiting in a gravitational field, the force does not change the speed, if the orbit is circular. In the case of an elliptical orbit, the speed varies and the energy required for the change in speed is adjusted from the internal energy of the body. In both the cases the body does not get enough energy (from outside) for an acceleration. In the case of mechanical force, the body is always in contact with the surroundings, and the energy transfer from the surroundings provide the required energy. So the energy transferred is equivalent to create the required acceleration.

The above explanation is based on the physical definition of force. I am not sure whether it will be possible to explain each and every case or whether there will be any dead end. Anyway, it is logical up to what is given above.