So most 3D printers do not have the means to measure ?jerk?. What they can do though is control it. That is, the jerks can be set (or rather limited) to some pre-chosen value (the best one is usually found by trial and error).(1) Choose a constant jerk; (2) discrete integration then gives a linear ramp-up in acceleration; (3) discrete integration again gives a quadratic ramp-up in speed.(4) With knowledge about the geometry of the systems condensed down to the steps/mm value one can then program the controlling microprocessor to execute that speedup-ramp that creates the desired jerk value. Or rather one can avoid exceeding it.