Acceleration can be experienced by both humans and objects, as it is relative and measurable. For example, pilots can feel the effects of high G-forces, while an observer in a moving box may not realize they are in motion without a reference point. In contrast, velocity is not something that can be directly experienced; it requires a frame of reference to be understood. Objects, like humans, do not experience velocity but can have measurable acceleration. The discussion highlights the distinction between experiencing acceleration and having velocity, emphasizing the relativity of both concepts.