In present paper, a semi-empirical grinding force model is developed combined with the achievements of previous researchers by composing effects of normal and tangential grinding forces in two main parts respectively: cutting force and sliding force. Final equations for the total normal and tangential force components is established. This model is used to predict the total normal and tangential force in the surface grinding. These force components were expressed in terms of the grinding process parameters. There are four unknown coefficients in each equation which can be determined by experiment results at specific conditions with the variations of grinding process parameters. An equation for sliding force is established with the effect of specific sliding energy in terms of the experimental parameters. The average contact pressure and friction coefficient are taken into account. Four different water-based grinding fluids were tested for different specific grinding conditions. Low viscosity grinding fluid can have better performance than the high viscosity one due to the higher useful flow in the grinding contact area. The calculated normal and tangential grinding results are compared with the experimental ones. The verifications show that deviations can be affected by the performance of the fluid at heavy grinding conditions due to the sliding friction inside of rolling friction. To have a better agreement with experiment data. Shallow grinding condition is chosen to obtain the modified model.