Every once in a while, I am asked by someone about what their acceleration should be set at. My answer, as in so many cases, is “it varies.”
If you go too low, you won’t necessarily hurt anything, but your prints will take forever. If you set acceleration too high your belts will jerk abruptly each time the axis changes direction and you risk skipping teeth on the belts and getting layer shift.
I’ve run tuning test towers, and I know that my printer starts to have problems around 2,500 or 3,000 mm/s². It skips teeth and my layers end up all over the place.
Unless you want to do a tuning tower for each print (not practical) you are better off doing a little educated guessing based on what you are printing.
For small, intricate, parts I set my acceleration low. Somewhere around 500 mm/s². For larger parts that don’t have a lot of detail, I might set at 2,000 or 2,500.
Maybe this is an unpopular opinion, but I don’t think it matters a whole lot for small parts. When you do a 3-point turn in your car, your acceleration doesn’t matter much. You are changing direction too frequently for it to even matter. I don’t have scientific data to back this up, but I would guess that it takes a Ferrari about the same amount of time to do a 3-point turn as my Dodge Dakota. If someone has a Ferrari they want to let me borrow to do that test, I’m game. The same is true on your 3d printer when you print small parts, so your acceleration doesn’t matter a whole lot.