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Cubically, 61 bytes
$:7(U1R3U1F3D2*1-1/1)6+7$-77*6$(-77777777D2F1U3R1U3!0{<0%6&})
Try it online! For this to work in TIO, you may need to replace & with &1 (due to a bug in the interpreter).
If the acceleration is too high, this will fail. I don't know how high of an acceleration this program...