A perpendicular force applied to an object can change its direction of motion without affecting its speed.
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the force is not in the direction of the objects motion.
No. At least not by the force that's perpendicular to the motion. When you push a baby stroller (or a car), you do work, but the force of gravity, downward and perpendicular to the motion, doesn't.
The centripetal force is always perpendicular to the motion in circular motion. It acts towards the center of the circle, keeping the object moving in a circular path.
The centripetal force is always perpendicular to the direction of motion. It acts towards the center of the circular path that an object is following.
Friction always opposes the motion of objects by creating a force that acts in the opposite direction of the object's motion. This force resists the movement of the object, causing it to slow down or stop. Though friction can sometimes be reduced, it will always be present to some degree and affect the motion of objects.