Which expression can be used to calculate centripetal acceleration?

We can use multiple expressions to calculate centripetal acceleration, depending on the physical problem:

Centripetal acceleration with tangental velocity:

a=v²/r, where v is tangental velocity and r is the radius of the circular trajectory.

Centripetal acceleration with angular velocity:

a=ω²r, where ω is the angular velocity and r is the radius if the circular trajectory. 

We can calcualte it from the centripetal force Fcp:

Fcp=m*a, so a=Fcp/m, where m is mass and a is the centripetal acceleration.

And also from the equation:

a=√(a₁²+a₂²), where a is total acceleration, a₁ is centripetal acceleration and a₂ is the tangental acceleration, so to get a₁, or centripetal acceleration:

a₁=√(a²-a₂²)