The centripetal force law and the equation of motion for a particle on a curved hypersurface L. D. Hu, D. K. Lian and Q. H. Liu Eur. Phys. J. C, 76 12 (2016) 655 Published online: 28 November 2016 DOI: 10.1140/epjc/s10052-016-4473-2