Particle/dipole acceleration in non-uniform magnetic field

I've come across a few places that mention that dipoles and charged particles accelerate in non-uniform magnetic fields. Is this true? If the Magnetic force is always perpendicular to the velocity of a charge, I don't see why it would accelerate. I see it having centripetal acceleration with constant kinetic energy unless the centripetal acceleration is all that's needed for the charge to emit a photon. I also don't see a dipole would accelerate in a non-uniform magnetic field.