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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 representative of the energy contained in the solution (energetically relevant) and indicative of the established force balance (dynamically relevant). In numerical simulations of rotating convection and magneto-hydrodynamic dynamos in spherical shells, it has remained difficult to measure length scales that are both energetically and dynamically relevant, which has led to conflicting interpretations 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 quasi-geostrophic (QG-) MAC (Magneto-Archimedean-Coriolis) balance. In non-magnetic convection models, the analysis favours a QG-CIA (Coriolis-Inertia-Archimedean) balance. 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 a 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 km, while magnetostrophic effects are deferred to scales smaller than 50 km.