Calculates the linear acceleration of a body-fixed point
bodyFixedPoint perceived from
the base frame.
The "perceived from the base frame" means that the body-fixed point is observed from the base,
such that Coriolis acceleration resulting from the body velocity with respect to the base is
considered.
Effectively, the resulting linear acceleration αresult is calculated as
follows:
αresult = αthis + ω'this × P + ωtwist × ((ωtwist × P) + νtwist)
where αthis and ω'this represent the angular and linear
parts of this spatial acceleration, ωtwist and νtwist represent
the angular and linear parts of the body twist, and
P is the
bodyFixedPoint.