Acceleration can be defined for speed using the average acceleration formula, where average acceleration is calculated as (b-a)/(t2-t1) for speeds at two different times. This concept relates to tangential acceleration, which is the component of acceleration in the direction of velocity. Velocity is a vector, and changes in either speed or direction indicate acceleration. The theorem in differential geometry states that a particle's total acceleration can be expressed as the sum of tangential and centripetal acceleration. Understanding these components is crucial for analyzing motion, especially when speed is not constant.