An inertial frame of reference (FOR) is a non-accelerating FOR ,
for example if a person is observing a moving car while at rest or
while moving at constant velocity, he is in an inertial FOR. A
non-inertial frame of reference is an accelerating FOR for example
a rotating FOR. ( Rotation requires centripetal force and
centripetal acceleration so any rotating object always requires a
centripetal acceleration to rotate.)