In the non-relativistic limit, acceleration is defined as the derivative Eric Weisstein's World of Math of velocity, and is therefore given by the expression
Acceleration, Eric Weisstein's World of Math Angular Acceleration, Centripetal Acceleration, Coriolis Acceleration, Cylindrical Coordinates, Eric Weisstein's World of Math Polar Coordinates, Eric Weisstein's World of Math Retarded Acceleration
References
Misner, C. W.; Thorne, K. S.; and Wheeler, J. A. Ch. 6 in Gravitation. San Francisco, CA: W. H. Freeman, 1973.
