Centripetal acceleration is an acceleration that makes something move in a circle. Acceleration is general is how fast the velocity of something is increasing. Centripetal force is the force that makes something move in a circle. Force in general is mass times acceleration. The acceleration and the force act in the same direction. So if you multiply centripetal acceleration by the mass of the object that the force is being applied to, then you have centripetal force.
Fc = m*ac ac = v^2/r