We define torque as the capability of rotating objects around a fixed axis. In other words, it is the multiplication of force and the shortest distance between application point of force and the fixed axis.
if there is acceleration then we can say there must be also a net force causing that acceleration. The direction of this net force is same as the direction of acceleration which is towards to the center. Look at the given picture that shows the directions of force and acceleration of an object doing circular motion in vertical.
For example, electrical forces or gravitational force towards to the center can be centripetal force of that system.
Hope this helps.