Let see the figure and try to understand, Here 'A' is a body that is moving on a circular path and 'C' is center of this circular path. The body is now in non-uniform accelerated motion even it speed is same, but the direction is constantly changing as per the motion on this circular path. Hence, this body has constant velocity. So, the force exerted by the body on the center of the circular path perpendicular to its tangent is called Centripetal force.
⇒Note: Tangent is the line that touch the boundary of circle.