A new optimal desired acceleration planning method is developed for quadrotors in its formation rotation. The virtual structure method has been adopted for the formation, which provides different desired acceleration for every quadrotor in its flight. To hold a stable formation, it is necessary to plan the desired acceleration for every quadrotor within its limits. Therefore, an optimal method is developed to control the attitude and the angular velocity of the virtual structure within input limits during its flight, which ensures the desired acceleration for every quadrotor within limits. The proposed method’s effectiveness is showcased through a numerical example.