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Imagine spinning a ball on a string. You pull the ball inward toward you. Your pull is a centripetal force that accelerates the mass toward the center of the orbit.
If you let go of the string and ball, they will travel forward due to their inertia.
Centripetal force (gravity) 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.
Our sun pulls on our planets and keeps them in orbit.
The sun's gravity is a centripetal force in this situation.