In uniform circular motion, velocity is always tangent to the circle, while acceleration points towards the center, making them perpendicular. This relationship can be demonstrated mathematically by differentiating the position vector to find the velocity vector and then differentiating again to find the acceleration vector. The dot product of the velocity and acceleration vectors equals zero, confirming their perpendicularity. Visualizing the motion with vectors helps clarify that the change in velocity (dv) is perpendicular to the velocity vector (v). It's important to note that while velocity and acceleration can be parallel in simple cases, they are not always so in more complex scenarios.