Hello, I am confused about the types of acceleration in rotational movement of rigid bodies. I am quite clear about the various types of movement of rigid bodies. The body can have translational movement where acceleration is dV/dt. But what are the other types of acceleration that the body may have? I think we can categorise the other types of movements into rotational through the centre of mass and rotational through a centre outside the centre of mass. Can you tell me please the equations that describe these? It is not clear and I see confusing things on the web, for example that a=ra. Thanks!