Hello, I have a one-dimensional path associated with timings, similar to: t0=0, x0=0 t1=0.1, x1=2 t2=0.2, x2=3 etc. Now I want to measure the velocity, acceleration and jerk at each time position. The first (and easy) way of doing this would be to loop through all points and compute: v1=(x1-x0)/(t1-t0) v2=(x2-x1)/(t2-t1) etc. then a1=(v1-v0)/(t1-t0) a2=(v2-v1)/(t2-t1) etc. and finally j1=(a1-a0)/(t1-t0) j2=(a2-a1)/(t2-t1) etc. But something tells me this is not the most precise way of computing this. Any suggestions?