A rigid body can accelerate in six ways: along three spatial axes and
rotationally about those three axes.

I have data at three locations on a rigid body.  For each location I
have three sets of data representing acceleration along each of the
three spatial axes (vertical, fore-aft, lateral). All sets of data
have a common starting time index.

What equations or methodologies are available to derive the rotational
acceleration (pitch, yaw, roll) of the rigid bodies based on the
spatial-acceleration data I already have?

To be clear I have data from multiple locations showing the rigid
bodies acceleration in the three spatial directions and need to know
how the rigid body is accelerating rotationally.

I have access to a program that can manipulate the data in a variety
of ways including to Integrate, Differentiate the data or
add/subtract/multiply/divide the data with each other. Assume that
whatever manipulation of the data is needed I can do.