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Have you looked through the tf2 tutorials? I highly recommend them. Specifically, Writing a tf2 listener (C++) and Using Stamped datatypes with tf2_ros::MessageFilter demonstrate how to find the transform between two frames and use the result to transform a point. Extending it to a vector (acceleration) should be fairly straightforward, but feel free to ask for clarification if you run into trouble.

This reference documentation may also be helpful:

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