Jerk by axes in motion along a space curve

In the paper, a formula for calculation of the jerk of a point moving along a space curve is
derived. Such a formula is needed for control of motion to calculate jerks (second derivatives
of the velocity) by axes of motion. On the basis of this formula, an expression for the
maximum admissible velocity on the space curve to satisfy limitation by the jerk is given as
well. Such a requirement also arises in the motion control.