ACS does not require VS to run, however we package the entire SDK into an MSI which is why you see the requirement when attempting to install it.
If you already have the SDK Installed somewhere else, you can go ahead and copy the ACS executable and config file from "C:\Program Files (x86)\Apprenda\Tools\ACS\", and paste it into any other server you want to deploy applications from.
I would also recommend that you add the executable to your Environment Variables in order to have the 'acs' shortcut when launching Powershell. To do so, append "C:\Program Files (x86)\Apprenda\Tools\ACS\" at the end of Path Variable.
Let me know if you have any questions!