def dmp_transformation_system(Y, V, alpha_y, beta_y, goal_y, goal_yd, goal_ydd,
                              execution_time):
    """Compute acceleration generated by transformation system of DMP."""
    return (alpha_y * (beta_y * (goal_y - Y) + execution_time * (goal_yd - V))
            ) / execution_time ** 2 + goal_ydd