Within the same shell value (n), the penetrating power of an electron follows this trend in subshells (ml):
s>p>d>f
Shielding:
An atom (assuming its atomic number is greater than 2) has core electrons that are extremely attracted to the nucleus in the middle of the atom. However the number of protons in the nucleus are never equal to the number of core electrons (relatively) adjacent to the nucleus. The number of protons increase by one across the periodic table, but the number of core electrons change by periods. The first period has no core electrons, the second has 2, the third has 10, and etc. This number is not equal to the number of protons. So that means that the core electrons feel a stronger pull towards the nucleus than any other electron within the system. The valence electrons are farther out from the nucleus, so they experience a smaller force of attraction.
Shielding refers to the core electrons repelling the outer rings and thus lowering the 1:1 ratio. Hence, the nucleus has "less grip" on the outer electrons and are shielded from them. Electrons that have greater penetration can get closer to the nucleus and effectively block out the charge from electrons that have less proximity. For example, Zeff is calculated by subtracting the magnitude of shielding from the total nuclear charge. The value of Zeff will provide information on how much of a charge an electron actually experiences.
Because the order of electron penetration from greatest to least is s, p, d, f; the order of the amount of shielding done is also in the order s, p, d, f. Since the 2s electron has more density near the nucleus of an atom than a 2p electron, it is said to shield the 2p electron from the full effective charge of the nucleus. Therefore the 2p electron feels a lesser effect of the positively charged nucleus of the atom due to the shielding ability of the electrons closer to the nucleus than itself, (i.e. 2s electron).