- the upwards pull we feel on the Earth (or would feel if we were sensitive enough) is the centrifugal force, not the centripetal force. The centrifugal force is called a 'fictitious force' because it's an artifact of working in a rotating coordinate system: you are not 'really' getting pulled up, you are wanting to continue going in a straight line, while the turning surface of the Earth is deviating from a straight line, so you are only accelerated up relative to the Earths' surface.
But while called 'fictitious', the centrifugal force is a perfectly real effect, as you'll know if you were ever in a car and someone made a sharp turn!
https://www.livescience.com/52488-centrifugal-centripetal-forces.html
