# Simscape Driveline Ideal Motion Sensor - Calculating Acceleration

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Peter Zach on 2 Apr 2021
Commented: Juan Sagarduy on 9 Apr 2021 at 5:32
When using driveline I can easily output the position and velocity of a mass with an ideal translational motion sensor: https://www.mathworks.com/help/physmod/simscape/ref/idealtranslationalmotionsensor.html?searchHighlight=ideal%20motion%20sensor&s_tid=srchtitle
However, to get the acceleration of the mass, I need to convert to simulink and differentiate the signal. This is not a major problem but my questions are as follows:
How can I be confident I am not introducing error by numerically differentiating?
Why doesn't the "Ideal Motion Sensor" supply the acceleration as an output? I would think the equations of motion include acceleration and it is integrated to get velocity and position.
Peter

Juan Sagarduy on 8 Apr 2021
Hi Peter
This is good feedback, maybe there should that option in the sensor. But this can be solved by adding that into a modified component (Simscape language) with acceleration output. Let me know if u need a hand.
Cheers Juan
##### 2 CommentsShowHide 1 older comment
Juan Sagarduy on 9 Apr 2021 at 5:32
Hi Peter,
Find attached the implemntation of the sensor in a test model.
We have a 1-day course on Simscape where you can learn how to create your own components/domains. See link below:
Br Juan

R2020b

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