A question on centripetal acceleration

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Estimate the time it takes a satellite in “near-earth” orbit to go once around the earth. To do this, assume that it is close enough to the earth’s surface that the gravitational force acting on it is about equal to its weight on earth, mg. Proceed as follows:

a. Find the centripetal acceleration the satellite must experience in its circular orbit.

a=v^2/r
Since we're talking about the earth, I'm assuming that we use the Earth's radius, 6400km. However, I have no idea where to get the velocity of this satellite from.
 
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What is the centripetal force acting on the satellite? Can you use this to find the velocity of the satellite?