Probably the fastest way is to find a(t) = d2r/dt2
Then at = a•v/v The dot product of acc. vector in tangent direction (unit tangent vector is v/v
an = |a x v|/v The cross product with tangent vector gives normal component of acc. vector.
v = dr/dt = <4,6t,16t3> |v| = v = sqrt(16 + 36t2 + 256t6) a = <0,6,48t2>
at = (36t + 768t5)/v
an = |96t3 - 288t3, 192t2,-24|/v
Plug in 2 for t. You can calculate v as a number and the magnitude is the sqrt of sum of the squares of the vector in the an equation.
You can also find the curvature,κ, and use v' = at and κv2 = an