# SetJointAccelerations(List<float>)

> Assigns articulation body joint accelerations for the entire hierarchy of bodies.

## Definition

* **Type:** Method
* **Namespace:** [UnityEngine](/engine/6000.3/script-reference/unityengine.md)
* **Assembly:** UnityEngine.PhysicsModule

> **Warning:**
>
> **Removed.** Setting joint accelerations is not supported in forward kinematics. To have inverse dynamics take acceleration into account, use GetJointForcesForAcceleration instead

```csharp
public void SetJointAccelerations(List<float> accelerations)
```

### Parameters

**** (\[List\<float>]\(https\://learn.microsoft.com/dotnet/api/system.collections.generic.list-1)): Supplied list of floats used to set the joint accelerations.

### Remarks

This sets joint accelerations in the reduced coordinate space for the entire articulation hierarchy starting from root using the supplied list of floats. Every joint acceleration DOF is represented by one float value, however depending on the type of the articulation joint there might be zero, one or 3 DOFs per joint. The exact location of the data to be set in the supplied list for the specific articulation body can be found by calling [ArticulationBody.GetDofStartIndices](/engine/6000.3/script-reference/unityengine/articulationbody/getdofstartindices.md) and indexing returned dofStartIndices list by the particular body index via [ArticulationBody.index](/engine/6000.3/script-reference/unityengine/articulationbody/index.md). Number of degrees of freedom(DOF) for the articulation body can be found using [ArticulationBody.dofCount](/engine/6000.3/script-reference/unityengine/articulationbody/dofcount.md).

Units of measurement - m/s^2 (meters per second squared) for linear and rad/s^2 (radians per second squared) for angular motion.

Additional Resources: [ArticulationBody.index](/engine/6000.3/script-reference/unityengine/articulationbody/index.md), [ArticulationBody.GetDofStartIndices](/engine/6000.3/script-reference/unityengine/articulationbody/getdofstartindices.md), [ArticulationBody.dofCount](/engine/6000.3/script-reference/unityengine/articulationbody/dofcount.md), [ArticulationBody.GetJointAccelerations](/engine/6000.3/script-reference/unityengine/articulationbody/getjointaccelerations.md).