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In fluid dynamics, the scaling behaviour of flow length scales is commonly used to infer the governing force balance of a system. The key to a successful approach is to measure length scales that are simultaneously representative of the energy contained in the solution (energetically relevant) and also indicative of the established force balance (dynamically relevant). In the case of numerical simulations of rotating convection and magnetohydrodynamic dynamos in spherical shells, it has remained difficult to measure length scales that are both energetically and dynamically relevant, a situation that has led to conflicting interpretations, and sometimes misrepresentations of the underlying force balance. By analysing an extensive set of magnetic and non-magnetic models, we focus on two length scales that achieve both energetic and dynamical relevance. The first one is the peak of the poloidal kinetic energy spectrum, which we successfully compare to crossover points on spectral representations of the force balance. In most dynamo models, this result confirms that the dominant length scale of the system is controlled by a previously proposed quasi-geostrophic (QG-) MAC (Magneto-Archimedean-Coriolis) balance. In non-magnetic convection models, the analysis generally favours a QG-CIA (Coriolis-Inertia-Archimedean) balance. Viscosity, which is typically a minor contributor to the force balance, does not control the dominant length scale at high convective supercriticalities in the non-magnetic case, and in the dynamo case, once the generated magnetic energy largely exceeds the kinetic energy. In dynamo models, we introduce a second energetically relevant length scale associated with the loss of axial invariance in the flow. We again relate this length scale to another crossover point in scale-dependent force balance diagrams, which marks the transition between large-scale geostrophy (the equilibrium of Coriolis and pressure forces) and small-scale magnetostrophy, where the Lorentz force overtakes the Coriolis force. Scaling analysis of these two energetically and dynamically relevant length scales suggests that the Earth's dynamo is controlled by a QG-MAC balance at a dominant scale of about |$200 \, \mathrm{km}$|⁠ , while magnetostrophic effects are deferred to scales smaller than |$50 \, \mathrm{km}$|⁠. [ABSTRACT FROM AUTHOR]