Yes, in reality the forces acting on a body are always in balance. If the forces acting on the body are out of balance, it accelerates. The acceleration implies a force acting against the body's inertia, exactly sufficient to balance the other forces.

We tend, however, to call situations where our body forces can be balanced only by the inclusion of unchecked acceleration "off balance" or "falling" Yet there is a role for these in dancing.

And as SQQ's math points out, push forward and up from the standing ball of foot will counter the forward and down torque created by having the center of mass forward of the floor pressure - producing an acceleration that is mostly forwards, and not down.