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The formula for critical velocity is:
A.) 2Rg
B.) Rg
C.) 3R2g
D.) Rg

Answer
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Hint: Study about the centripetal force and the gravitational force. Study how the satellite or any object moving in a circular direction around another object works. Think about which critical velocity you are asked by looking at the equations given as options.
Formula used:

g=GMR2
Vc2=GMR

Complete step by step answer:
To put a satellite into a stable orbit around earth we gave them a constant horizontal velocity. The minimum velocity required to make them orbit in the stable orbit is called the critical velocity.
Consider an object of mass m orbiting another object of mass M. For the circular motion we need a centripetal force. In this case we have the necessary centripetal force due to the gravitational attraction.

Let the orbiting object is at a distance R from the object in the centre.

Now, for the motion to be stable the centripetal force should be equal to the gravitational attraction.

centripetal force = gravitational forcemVc2R=GMmR2Vc2=GMR

Where, G is the gravitational constant and Vc is the critical velocity of the object.
Now, we can express the acceleration due to gravity as

g=GMR2so,G=gR2M

Now, putting the value of G in terms of g we get that,

Vc2=GMRVc2=gR2MMRVc2=gRVc=gR

So, the correct option is (D)

Note: Critical velocity can also be defined as the maximum velocity with which a liquid can flow through a tube without being turbulent.

Vc=Reηρr

Where, Reis the Reynolds number, η is the viscosity, ρis the density of the fluid and r is the radius of the tube.

Do not confuse this critical velocity of fluid with the above critical velocity for circular motion.