The radial acceleration of a body a distance R from the center of a circular path and with period T has magnitude a such that
a = 4 π ² R / T ²
The given period is
T = 365.3 days ≈ 3.156 x 10⁷ s
(i.e. multiply the number of days by 24 hours/day and 3600 seconds/hour)
So the Earth's radial acceleration is
a = 4 π ² (1.5 x 10¹¹ m) / (3.156 x 10⁷ s)²
a ≈ 0.0059 m/s²