Working with MatLab Build a MatLab function to compute the time derivatives of the segment orientation (angular velocity and angular acceleration) using the method of finite differences Plot the shank segment angle, angular velocity and acceleration in side-by-side plots over the appropriate scale. Working with MatLab Build a MatLab function to compute the time derivatives of the segment orientation (angular velocity and angular acceleration) using the method of finite differences Plot the shank segment angle, angular velocity and acceleration in side-by-side plots over the appropriate scale