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Jerk, as the derivative of acceleration, is used more and more in the kinematic study of the systems characterised by short travels and requiring a high precision of positioning, including elevators, CNC machine tools, and industrial robots. The acceleration modeling using jerk variation serve as a basis for generating the functioning tahogrames of the mechanical systems. Since peak values of jerk and acceleration are closely connected to safety, and also to comfort in the mechanical systems where human presence is involved, a study concerning the positions of the systems where these values are reached will be performed in this paper. The position vector of the points where peak values of jerk are reached will be determined. Spatial motion as well as the particular motions of the rigid body (translation movement, rotation around a fixed axis, helical movement, the motion of planar mechanisms, spherical motion) will be considered. Since positioning is an important aim for the industrial robots, jerk variation in the various points of the robot’s parts may provide important informations about peak values of acceleration, as well as about inertial forces involved in positioning. Also jerk is currently used in speed modeling of elevators and robots, a study considering the positions corresponding to peak values of acceleration has not yet been performed.
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