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Imagine spinning a ball on a string. You pull the ball inward toward you. If you let go of the string and ball, they will travel forward due to their inertia.
When you spin a bucket of water over your head without spilling a drop, you are also applying a centripetal force.
If you let go of the bucket, it will move in a straight line.
Centripetal force keeps the planets in orbit. According to Newton’s 1st law, all masses have inertia and would like to move at constant speed in a straight line.
These objects have momentum. Earth wants to move straight but it is prevented from doing so due to the sun’s gravity.
The sun applies a centripetal force.