Well, if the angle between the normal force and the surface upon which the body is traveling is 90 degrees, then I think all you would need to do is make sure that the magnitude of centripetal force doesn't exceed the magnitude of maximum static force between the body/surface. If it does, that means that the static friction would break, turning into kinetic friction, and send the object out of orbit.
Recall that in this scenario,
Max Static Friction Force = (coefficient of static friction)*(Normal Force)
Anybody want to check my logic?