The formula for centripetal acceleration, a_c = v^2/r, originates from analyzing a particle in uniform circular motion, where the change in velocity forms a triangle that leads to the derivation of the formula. In circular motion, acceleration is not solely about the change in speed but also involves the change in direction, as velocity is a vector quantity. While the magnitude of velocity remains constant in uniform circular motion, the direction changes continuously, resulting in a constant radial (centripetal) acceleration directed towards the center of the circle. The discussion clarifies that centripetal acceleration is not merely the change in angle but rather the rate of change of velocity towards the center, distinguishing it from angular speed and angular acceleration. Understanding these components is crucial for grasping the dynamics of circular motion.