Joint rotational acceleration

[trickdigital]

Hi, I need to determine the rotational acceleration a single axis joint rotating in z. Any ideas? Clearly on playback I can check the rotation values every frame, but I need to determine acceleration based on those values.

Thank in advance. 

[trickdigital]

Figured it out.

[zapan669]

Velocity = delta position

Acceleration = delta velocity

So basically   NewVel = new pos ( at current frame)   -  old pos    ( previous frame )

And NewAcc = new vel  -  old vel