'Sets the acceleration of this point with the 1-point theory.
The 1-point theory for point acceleration looks like this:
^N a^P = ^B a^P + ^N a^O + ^N alpha^B x r^OP + ^N omega^B x (^N omega^B
x r^OP) + 2 ^N omega^B x ^B v^P
where O is a point fixed in B, P is a point moving in B, and B is
rotating in frame N.
Parameters
otherpoint : Point
The first point of the 1-point theory (O)
outframe : ReferenceFrame
The frame we want this point\'s acceleration defined in (N)
fixedframe : ReferenceFrame
The intermediate frame in this calculation (B)
Examples
>>> from sympy.physics.vector import Point, ReferenceFrame
>>> from sympy.physics.vector import Vector, dynamicsymbols
>>> q = dynamicsymbols(\'q\')
>>> q2 = dynamicsymbols(\'q2\')
>>> qd = dynamicsymbols(\'q\', 1)
>>> q2d = dynamicsymbols(\'q2\', 1)
>>> N = ReferenceFrame(\'N\')
>>> B = ReferenceFrame(\'B\')
>>> B.set_ang_vel(N, 5 * B.y)
>>> O = Point(\'O\')
>>> P = O.locatenew(\'P\', q * B.x)
>>> P.set_vel(B, qd * B.x + q2d * B.y)
>>> O.set_vel(N, 0)
>>> P.a1pt_theory(O, N, B)
(-25*q + q\'\')*B.x + q2\'\'*B.y - 10*q\'*B.z'

def a1pt_theory(self, otherpoint, outframe, interframe):

    _check_frame(outframe)
    _check_frame(interframe)
    self._check_point(otherpoint)
    dist = self.pos_from(otherpoint)
    v = self.vel(interframe)
    a1 = otherpoint.acc(outframe)
    a2 = self.acc(interframe)
    omega = interframe.ang_vel_in(outframe)
    alpha = interframe.ang_acc_in(outframe)
    self.set_acc(outframe, ((((a2 + (2 * (omega ^ v))) + a1) + (alpha ^ dist)) + (omega ^ (omega ^ dist))))
    return self.acc(outframe)
