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Short answer: yes.

The force required to maintain constant-velocity circular motion is called centripetal force, and it acts toward the center of the circle (perpendicular to the object's tangential velocity). Centripetal force is given by

f_c = mv^2 / r

where m is the mass of the orbiting object, v is its tangential velocity and r is its (presumably constant) distance from the center of rotation. Centripetal acceleration is given by dividing both sides of this equation by m (as governed by Newton's second law).

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