I'm naturally a bit of an anti-authoritarian, and don't like ordering people around, and so I can be a bit wishy-washy in assigning work. That's bad leadership / management however, and so I'm working on being more direct despite the inherent discomfort: Power requires commitment to a vision, or else it will be temporary (both the power and the vision), which will not lead to progress. Commitment to a vision requires a level of 'bulldoze the roadblocks' mentality, which comes with a certain level of denial of the realities and complexities associated with those roadblocks (which is often the foundation of my disdain for some figures of power). Get it done!
Any progress is better than none. Progress in the wrong direction at least provides education as to the correct direction.
I'm sure there are plenty of books written about this.