Acceleration is rate of change of velocity.Velocity is a vector.A change could be due to change in magnitude or change in direction.In uniform circular motion ,only the direction of velocity changes .This centripetal acceleration is responsible for change in the direction of velocity of the object .
To be more clear,draw a velocity vector at time t ,then draw a velocity vector at time t+Δt .See where the difference of the two vectors point .
One thing more,centripetal force mv2/r is not an individual force acting on the object,rather it is the net force acting on the object moving in a circle .It is the same thing as ma in F=ma equation .