code: def test_point_a1pt_theorys():
      q, q2 = dynamicsymbols("q q2")
      qd, q2d = dynamicsymbols("q q2", 1)
      qdd, q2dd = dynamicsymbols("q q2", 2)
      N = ReferenceFrame("N")
      B = ReferenceFrame("B")
      B.set_ang_vel(N, qd * B.z)
      O = Point("O")
      P = O.locatenew("P", B.x)
      P.set_vel(B, 0)
      O.set_vel(N, 0)
      assert P.a1pt_theory(O, N, B) == -(qd**2) * B.x + qdd * B.y
      P.set_vel(B, q2d * B.z)
      assert (
          P.a1pt_theory(O, N, B)
          == -(qd**2) * B.x + qdd * B.y + q2dd * B.z
      )
      O.set_vel(N, q2d * B.x)
      assert P.a1pt_theory(O, N, B) == (
          (q2dd - qd**2) * B.x + (q2d * qd + qdd) * B.y + q2dd * B.z
      )
  
imports: from sympy.physics.vector import dynamicsymbols, Point, ReferenceFrame
  from sympy.testing.pytest import raises, ignore_warnings
  import warnings
label_desc: Use image node_id 2 for calling a global function with example usage: test_point_a1pt_theorys() without return types