the short answer
A synergist muscle is a muscle that assists the prime mover (the agonist) during a movement, either by adding force to the same action or by stabilising a joint so the main muscle can work efficiently. On a biceps curl the biceps is the agonist, while the brachialis and brachioradialis act as synergists. Compound lifts call on several at once.
This article is general training education, not medical advice. Anatomy varies from person to person, so treat the examples below as the common pattern rather than a fixed rule.