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What is centripetal force?
Centripetal force - the resultant force towards the centre of a circle required to keep the body in uniform circular motion. It is always directed towards the centre of a body’s rotation.
Centripetal force is created by different forces depending on the situation:

What is centripetal acceleration and what causes it?
Centripetal acceleration - the acceleration of an object towards the centre of a circle when an object is in motion around a circle at a constant speed
Centripetal acceleration is caused by a centripetal force of constant magnitude.
Centripetal force and acceleration always act in the same direction.
A body in circular motion has a constantly changing direction so it has a constantly changing angular frequency. Therefore the body is always accelerating.

Centripetal acceleration causes circular motion with a constant angular speed
What are the three equations for centripetal acceleration?
a = vω = rω2 = v2/r
Where a is centripetal acceleration (ms-2)
Where v is linear speed (ms-1)
Where ω is angular speed (radss-1)
Where r is radius of the circle (m)
a = rω2 can be derived from a = vω and v = rω:
a = (rω)ω = rω2
What are the equations for centripetal force?
F = ma = mvω = rω2m = (mv2)/r
Where F is centripetal force (N)
Where m is mass (kg)
Where a is centripetal acceleration (ms-2)
Where v is linear speed (ms-1)
Where ω is angular speed (radss-1)
Where r is radius of the circle (m)