I am trying to simulate vehicle movement and would like to obtain the linear acceleration that acts on the car itself (i.e. the game object). I am confused where to start from or whether this is even possible.
The formula is: Force = mass x acceleration which gives: acceleration = Force/mass.
So in a simplified situation driving on a flat road with no other forces like air drag, or road friction the acceleration can be calculated by knowing the force applied to the car, and its mass.
Another option might be to read the speed from the rigid body.
Then divide the speed change between frames with the time, Time.deltaTime.
Rigidbody-velocity gives the speed in global space, so it might have to be converted to the vehicles forward direction.