This study proposes a novel. nonlinear trajectory/path-following controller based on jerk-level error dynamics. Therefore. at first the nonlinear acceleration-based kinematic equations of motion of a dynamic system are differentiated with respect to time to obtain a representation connecting the translation jerk with the (specific) force derivative. https://www.roneverhart.com/Gummy-Alligators-Candy-125-Piece-Jar/