What you need to compare is the inertia of the motor with the inertia seen by the motor. To calculate the inertia seen by the motor you need to add the inertia of all the mechanical transmission with the inertia of your moving load affected by the transmission ratio (lead screw, pulleys, etc.). You can use an application like Motion Analyzer from Rockwell Automation for proper calculations. If the inertia seen by the motor is more than 10 times larger than the inertia of the motor you will have to decrease the gains of your PID loop and you will come up with a less responsive system. Raise the transmission ratio of your system to balance the inertia ratio, but at top speed expenses. If you want acceleration choose a servo motor with a nominal torque value that satisfies your expectations.