How can the concept of reinforcement be used to explain motivation?

During the goal setting one must need the motivation so that they can be accepted. I want to know the major motivation for this task. The other thing is reinforcement theory which can also effect the motivation but I want to know how?
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People will most likely engage in a desired behavior if they are rewarded for doing so.
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Managers can influence employees’ behavior by reinforcing the work behaviors they desire.
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