We wanted to explain in clear (non-math) terms what our motion control is like. This is the result. We hope it helps explain what’s happening in there somewhat. 
Originally shared by Synthetos
TinyG and G2 Core use 7th-order jerk-controlled motion planning in real-time. Other motion control systems (both open-source and most proprietary) use constant acceleration motion planning for real-time applications. This page explains what those terms mean, and the differences and benefits of controlled-jerk motion planning. [Click the image to read more.]
https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained