To compute the acceleration vector, take the difference in two velocity vectors and divide that by the time difference. In the figure below:
THE ACT OF MOVING THE SLIDER TO THE LEFT IS EQUIVALENT TO TAKING THE LIMIT AS DT GOES TO ZERO. As the interval approaches zero, the calculated acceleration (as the ratio of velocity change over time) and true acceleration (as the time derivative) approach each other.
The velocity vector and acceleration vector form the OSCULATING PLANE.
As an aside, the presented curve is Viviani's Curve. It represents the intersection of a sphere with a cylinder. To create the curve, one edge of the cylinder is tangent to the sphere and another edge passees through the center of the sphere..