On the basis of Genesis 1.24-25, which distinguishes between domesticated animals and wild animals, it seems best to understand animals as domesticated animals and beasts as wild animals. On this verse see 10.12.

Quoted with permission from Newman, Barclay M. and Nida, Eugene A. A Handbook on The Acts of the Apostles. (UBS Handbook Series). New York: UBS, 1972. For this and other handbooks for translators see here .