I have built a Forward kinematic block with s-function on simulink. This FK is for a pantograph. Input is two angles of the motors and output is the position and 4 angles, which are the inputed motor angles along with angles of two elbows. Now, I need a motion level FK which will output the derivatives of the planar x,y positions and the derivatives of four angles. I wonder if I simply put a derivative block to the output of the configuration level FK block, would it work ?