What Is Centripetal Force and How Is It Calculated?

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centripical force PLEASE HELP!

i don't understand the concept of centripical force nor how do find it...my book is extremely confusing can some1 please explain?
 
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If you follow on from the concept of centripetal acceleration, and apply Newton's 2nd law. [If an object accelerates there must be a net force acting upon it in the direction of the acceleration], in this case the force is simply referred to as the centripetal force.

As before this isn't rigourous, but I hope it helps.