Centripetal Acceleration
Centripetal acceleration occurs as the direction of velocity changes; it is perpendicular to the circular motion. Centripetal and tangential acceleration are thus perpendicular to each other.
Source
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"OpenStax College, College Physics. November 10, 2012."
http://cnx.org/content/m42177/latest/?collection=col11406/1.7
OpenStax CNX
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