I don't mean this in a patronising manner because you don't sound like a stupid person, but your knowledge of physics is very poor. If you want to really understand the answers you need to self-study a bit.
The crux of your problem is that you have FORCE confused with ENERGY.
The definition of 'work' is:
Force applied x Distance moved in direction of force
When something orbits, this does not require energy, because the force is being applied at right angles to the motion, and so there is 0 force in the direction of travel, and so 0 energy required.
It is essentially the same situation with regards to energy as a mass moving through space in a straight line at the same speed. It doesn't require any energy; it just keeps going forever.
Think also about whirling a conker on a string around your head. The tension force in the string causes the circular motion; the only reason you have to put a little bit of energy in to keep it going (using the chemical energy in the muscles in your hands) is that the frictional force due to air resistance acts against the conker in the direction of motion, hence work is done (i.e. energy is lost) - it is converted to heat energy of the air.
Now, about magnetic fields: what fields do is create a force acting on a body. If these bodies move in the direction of the force, there is an energy change (for example, if you do work on a mass by applying an overall upward force to it on Earth hence lifting it into the air, you lose energy, and it gains energy; if you let the mass fall, the gravitational force instead does work on the mass, and it loses its potential energy, but gains kinetic energy).
The only way that a magnet can cause energy changes is if you try and push the magnet into the field (in which case it gains magnetic potential energy) or let the magnet be pushed (it gains kinetic); if the magnet doesn't move, there is no energy change.
It simply takes energy to hold your arm up because you are not truly letting the magnet rest in equilibrium; hence you are holding the magnet up, and also the whole mass of your arm, which of course requires your muscles to do work).




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