How do I determine the acceleration value for my printer?
As Tom pointed out, binary search is the best way. In case that term isn't familiar to all readers, here's a little more detail:


Establish an acceleration value that you're sure is too low (call it $L$), and one that you're sure is too high ($H$). It sounds like you know such values already from experience.
Figure out the speed in the middle: $(L+H)/2$.  Call that $M$.
Try printing at speed $M$. Something like a stepped calibration cube might be a good choice of object (plenty available on Thingiverse).
If $M$ is still too fast, take $M$ as your new high-speed limit (that is, reset $H$ to the value of $M$), and repeat from step #2.
If it's slow enough to work, take $M$ as your new low-speed limit ($L$), and repeat from step #2.


Each repetition will cut the range in half. Keep repeating until $L$ and $H$ get as close as you want; say, within 5&nbsp;% of each other or so.

I wouldn't bother trying to get super-close, because the workable value will vary somewhat over time (friction from dust getting on various parts; slight voltage differences; different mass and pulling tension for the filament roll, temperature of motors, complexity of the object you're printing, behavior of the slicing program you use, you name it).