First, we find the velocity vector $v(t) = r'(t)$:
$v(t) = (\frac{d}{dt}(t + \cos t), \frac{d}{dt}(t - \sin t)) = (1 - \sin t, 1 - \cos t)$.
Next, we find the acceleration vector $a(t) = v'(t) = r''(t)$:
$a(t) = (\frac{d}{dt}(1 - \sin t), \frac{d}{dt}(1 - \cos t))
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