Centripetal force IS the gravitational force. The gravitational force supplies the centripetal force in this scenario to keep the Moon from shooting off into space.
The reason the Moon doesn't fly into the Earth is not because the forces are balanced, but because it has sufficient velocity to escape a collision with Earth. In a sense, it is constantly falling towards the Earth, but it's "horizontal" speed is sufficient that it clear's Earth's curvature.
See this picture for example:
http://en.wikipedia.org/wiki/File:Newton_Cannon.svg
As for relative motion; since the Moon is constantly falling towards Earth, it is undergoing constant (approximately) acceleration. Thus, the Moon's reference frame is accelerated, and not inertial. Therefore, the principle of
special relativity doesn't apply to the Moon. One must use general relativity to discuss these reference frames...a subject I'm not sufficiently proficient in to make further discussion.