I thought it was as simple as dividing engine thrust (3500 lbf) by the ascent stage's gross weight in lunar gravity (10,300 pounds / 6).
I think I'm about to learn how wrong I am...
10,300 pounds is the weight on Earth. Mass = weight/gravity, so mass = 10,300 lb/(32.2 ft/sec^2) = 320 lb*sec^2/ft. (If I remember correctly, that would be 320 slugs, but call it whatever you want as long as the units are consistent.
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Since F=m*a, a=F/m = 3500 lb/(320 lb*sec^2/ft) = 10.9 ft/sec^2. In G's, that is 10.9 ft/sec^2/(32.2 ft/sec^2) = 0.34 G's.
Ironically, that is about 2 Moon G's, but we want to know the Earth G's.