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I am studying how a satellite would move in orbit around Mars. I have calculated the velocity of its movement. However, if the gravity of Mars is the only force affecting the movement of the satellite, how would I know that the velocity is enough so the satellite would continue moving in orbit? In other words, is there a formula connecting the velocity of an orbital object and the centripetal acceleration, so I can use it to minimise the velocity needed to orbit a planet under its gravity effect?

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