an easier way to understand this (IMHO) is this:
think of a battery. a 9 volt battery has two terminals, a positive and a negative one. There is no such a negative or a positive voltage. There is just a voltage. A differential potential between the 2 terminals, just like height. There is no
positive or negative height, there is just a vertical distance between two places.
It all boils down to a reference.
In the height example, if you decide that ground will be your reference, then you may say that a hole in the ground has a negative height.
because that distance (height) between the two points is below your reference point (which is ground).
In a similar fashion, a building has a positive height because is above ground.
For electronics, there is no such a negative voltage. Again it depends where you wanna place your ground.
Going back to the battery example, you may decide to place your ground in the negative terminal or the positive one.
If you take your multimeter and place the black lead (which is the common, ground or reference in your multimeter) to the negative terminal in the 9 volts battery and the red one in the positive terminal then you have a "positive voltage"
If you place them in backwards then you have a "negative" voltage and a minus sign will be displayed.
Although there is no positive or negative voltage it is quite valid to express a voltage in those ways because it only tells
that is more positive or more negative compared against your reference.
In op amps it is useful to have a power supply that has a negative voltage because sometimes an application may require
that voltage must swing above or below ground.
If you place two AA batteries in series, one battery above the other, you will have twice the voltage, but each battery
will keep its rated voltage and one of them will be positive and the other will be negative to you reference (which are the terminals where the two batteries make electrical contact.)
I hope this helps.