### Read Section 6.2 in the textbook

Equations from yesterday

radians = arc length/radius

angular velocity = radians/second

velocity = radius X angular velocity

Acceleration = change in velocity/time

Substituting v = rω into the above expression, we find ac = (rω)2 / r = rω^2.

**So centripetal acceleration equals the following:**

From Newton's 2nd law we know:

and substituting in acceleration from the above equation gives:

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