Arm strength...What to train? How much? etc

Hey guys
I have no experience with fitness whatsoever so go easy on me!

I have watched videos of people being so strong, yet not big or bulky at all. I wonder how that is happening, when you gain strength, yet not get bigger? I'm honestly most interested in Arm training, because I just never do that >.<
Like you see on the pictures, their balance, is something that I would really like to achieve. What muscles do you train to reach this goal? :eek:

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