The initial objective was to intercept Abu Sufyan's caravan. They did not anticipate a full-scale battle, as they were primarily seeking the caravan's goods.
The Prophet Muhammad (PBUH) did not blame those who stayed behind because the expedition was initially intended to intercept a caravan, not to engage in a full-scale war. He only requested those with readily available mounts to join him, as time was of the essence.
The number of participants on the Muslim side was between 300 and 319 individuals. They had two horses and 70 camels, with sometimes two or three people sharing one camel.
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