The force of gravity is equal to the mass times centripetal acceleration.
Fg = m v^2 / r
The force of gravity is defined by Newton's law of universal gravitation as:
Fg = mMG / r^2
Therefore:
mMG / r^2 = m v^2 / r
MG / r = v^2
v increases as r decreases. So the planet with the smallest orbit (closest to the sun) will have the highest orbital velocity. Of the four options, that's Mercury.