Picture this. You throw a ball into the air while gravity is pulling the ball down, back to Earth. The acceleration of the ball at all times is $$-9.8~\rm\frac{m}{s^2}$$ Assuming that the up direction is positive. The ball will rise until it reaches that certain point, and then fall back down. At the exact moment the ball reaches its highest point, the velocity is zero, but the acceleration is still $$-9.8~\rm\frac{m}{s^2}$$ (Actually, you need a difference in time to compute a velocity but we'll ignore that in this case.) So if the "instantaneous velocity", that is, the velocity at a point in time is zero, the acceleration can be other than zero, but it doesn't have to be. It is also possible that the ball is at rest with no forces acting on it.
In real life, however, this isn't possible. You need to compute the displacement between two separate points in time to compute a velocity. If we assume that there is a force that causes acceleration, the velocity of the two points we measure would be different and thus lead to different displacements.
Angular motion is very similar to linear motion. We can measure displacement, velocity, acceleration, and inertia in both. The relationships between the 4 is the same for both.