1. The problem statement, all variables and given/known data Ok, when talking about rotating bodies, we deal with the following accelerations - please correct me if I am wrong: A radial acceleration (a.k.a. the centripetal-acceleration): w^2*r or v^2/r. An angular acceleration given by dw/dt. A tangential acceleration given by r * a_angular Where does linear acceleration come in? If we e.g. look at a uniform circular motion, it has a radial acc., no angular and then no tangential but it has a linear acceleration because it changes direction all the time? I am quite confused about linear acceleration, and I can't seem to find it described anywhere.