yes it is a verb
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No, tripped is the past tense of the verb to trip. Example: I tripped on someone's shoes on the stairs again!
must - is called a modal auxiliary verb, must always goes before a main verb in this sentence the main verb is tripped. have - is an auxiliary verb in this sentence. Both of these can be called helping verbs
No. In most cases, like "He tripped," it's a past tense verb. It can also be used as an adjective, notably in "a tripped breaker."
The word tripped has only one syllable. It is pronounced with a single stress point. Sometimes people use the word (incorrectly) in poetry by pronouncing the word as trip-ped, with a stress point on the first phantom syllable.
Fell, stumbled upon, tumbled etc