art sanchez
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The clothes are given a velocity, I assume due to the friction against the walls of the washer. Once they have a velocity (in a straight line) they want to keep that velocity. If no other forces were present the clothes would fly out of the machine in a straight line forever. But, there is a force against the wall of the washer (there's also gravity) which causes an acceleration (change in the direction of velocity). The clothes will want to keep flying in this new direction until they crash into the washer again which in turn changes the angle of velocity, again. The net force is always pointed toward the center of the circle and this is what you call centripetal acceleration.