Out of the four options you provided, the following sentence is grammatically correct:
"The squirrel, who ran in circles around the circumference of the tree, chattered angrily at the curious cat."
In this sentence, the relative clause "who ran in circles around the circumference of the tree" is set off by commas, which is the correct way to indicate non-essential information. The sentence conveys that the squirrel ran in circles around the tree and chattered angrily at the cat.