Rondo Form (ABACA...)
Rondo Form is an extension of the other two forms Binary and Ternary Form
So if Binary form goes A-B and Ternary Form goes A-B-A, Rondo form follows on by allowing alternating sections between every A section. A-B-A-C-A...
For another visualisation of how Rondo form might look, imagine a stack of pancakes with a different layer between each pancake.
Each new section after A contrasts in some way to what has gone before it. Most composers writing a Rondo Form piece will use changes in melody, key and harmony to contrast the different sections.
This is similar to the Theme and Variation form except in Theme and Variation the A section does not keep returning.
Here is an example of a piece written in Rondo Form:
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