If you move in a circle around a corner, you have constant acceleration, otherwise you would go straight (centripetal force needs acceleration to exist). yet it is possible to move a coffee cup in a corner, as long as you tilt it a little bit. So acceleration is not the issue
However if you suddenly change the direction of the coffee cup, you introduce jerk, because you accelerate the acceleration (you change the size of the circle means you change the acceleration, therefore you introduce jerk = coffee spilled on the floor)
If you move in a circle around a corner, you have constant acceleration, otherwise you would go straight (centripetal force needs acceleration to exist). yet it is possible to move a coffee cup in a corner, as long as you tilt it a little bit. So acceleration is not the issue
However if you suddenly change the direction of the coffee cup, you introduce jerk, because you accelerate the acceleration (you change the size of the circle means you change the acceleration, therefore you introduce jerk = coffee spilled on the floor)