C++ CI Workflow with conda-forge dependencies

Implement FloatingBaseSystemAccelerationKinematics in ContinuousDynamicalSystem component #5213

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Run time

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Job	Run time
[ubuntu-latest@Release@conda]	9m 36s
[windows-2019@Release@conda]	26m 2s
[macos-latest@Release@conda]	22m 25s
	58m 3s