In classical mechanics, the acceleration \vec{a}_A of a particle A relative to a reference frame S (non-rotating) fixed to a particle S, is given by the following equation:
\vec{a}_A = \frac{\vec{F}_A}{m_A} - \frac{\vec{F}_S}{m_S}
where \vec{F}_A is the net force acting on particle A, m_A is...