Arm motion from 0 ≤ t ≤ 1 seconds

Take the time derivative of the position to get an equation for the velocity as a function of time:

     v(t) = dx(t)/dt = d(0.3 t² - 0.2 t³)/dt

     v(t) = 0.6 t - 0.6 t² m/s

Take the time derivative of the velocity to get an equation for the acceleration as a function of time:

     a(t) = dv(t)/dt = d(0.6 t - 0.6 t² )/dt

     a(t) = 0.6 - 1.2 t m/s²