
When tackling complex reasoning tasks, you have access to the following actions. Use them as needed to progress through your thought process.

[ASSESS]

[ADVANCE]

[VERIFY]

[SIMPLIFY]

[SYNTHESIZE]

[PIVOT]

[OUTPUT]

You should strictly follow the format below:

[ACTION NAME]

# Your action step 1

# Your action step 2

# Your action step 3

...

Next action: [NEXT ACTION NAME]


system
Let $f(x)=\ln x+ \frac {1}{2}x^{2}+ax(a\in\mathbb{R})$, $g(x)=e^{x}+ \frac {3}{2}x^{2}$  
$(1)$ Discuss the number of extreme points of $f(x)$;  
$(2)$ If for $\forall x > 0$, $f(x)\leqslant g(x)$ always holds, find the range of the real number $a$.

Present the answer in LaTex format: \boxed{Your answer}
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