Is there any way to paint with acrylics over oil?
As Catija implied, if your oil painting is less than 6 months old you shouldn’t do this. And if the oil paint is impasto (very thick) you should wait up to 18 months before varnishing. A very bad technique that would work is to varnish with a solvent-based varnish, let cure for 72 hours and then overcoat the varnish with a water-based varnish. Then you could theoretically paint with acrylics on top of this, but if your substrate is canvas I can promise you that you will sooner or later see cracking and flaking - especially if the “final” hanging place has humidity swings. 

One last reason why this is not a good approach is that conservators will find it pretty much impossible to restore this kind of work. Basically you are dooming the painting to be more temporary than necessary.

Why don’t you just use oils?