Radial Acceleration in cylindrical coordinates

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VooDoo
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Hey guys,

Been given this formula for radial acceleration, I am not sure how they derived it. I have tried but the only formula I know is a(radial) = v^2/r

[tex]A_{r}[/tex] = [tex]\ddot{r}[/tex] - r[tex]\dot{\theta}^{2}[/tex]EDIT - should be minus not plus
 
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