Is it possible to calculate lateral acceleration from pitch/yaw/roll rates?
No. Yaw, pitch and roll rates only describe the change in the orientation or attitude of the object relative to a frame of reference. Is it changing orientation to point further clockwise? or counter clockwise, or upwards/downwards, etc.

Any acceleration is a measure of the change in the velocity of the object relative to the frame of reference in question. An object can be rotating to change it's orientation or attitude in any way completely independently of it's velocity through that frame of reference or how that velocity might be changing.