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How to calculate the centripetal force based on angular velocity ?
The centripetal force can be calculated with the following formula:
The previous equation can be generalized in vector form:
Where:

is the centripetal force expressed in Newton ( ) 
is the body mass expressed in kilograms ( ) 
is the angular velocity of the body expressed in radians per second ( ) 
is the angular velocity vector 
is the radius of the circular path expressed in meters ( ) 
is a radius vector attached to the center of the circular path, in the direction of the body.