Is there a way to control a differential drive robot through manipulating its acceleration rather than through cmd_vel?

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I'm trying to build a differential drive robot, and I've been using this tutorial: https://www.theconstructsim.com/how-t...

However, I'm now required to find a way to control this robot's acceleration, not its velocity. Is there a different plugin out there that allows the user to control the acceleration? Is there a way to access the acceleration controls that lie under the surface in the standard differential_drive_controller (libgazebo_ros_diff_drive.so)?

Any guidance would be very much appreciated.