Smoothing 3D Data for the Second Derivative
I have always found that a "Median Filter", https://en.wikipedia.org/wiki/Median_filter   to be effective on streaming data.
A brief intuitive description is below; but you must take steps to insure you restrict the bandwidth to the real data source you expect.  While you might not know the sources/spectrum/timing of noise and spikes (in which case the median filter is actually pretty good) you hopefully know the signals and characteristics of the signals you are looking for.  For extensive analysis, still iffy IMHO, along the lines of PDF (probability distribution function) and spectral analysis: there are some IEEE articles; but my analysis of most of the articles were that they weren't really useful in the face of unknown interference.  Aside from accommodating only the real signal bandwidth I wouldn't try z-s domain filtering without a really good reason.

------------------------ Median filter abbreviated description
Basically you pass the data into a shift register and pick the middle value.  Examples always show a sort process; but since you lose only one value and gain only one value during a shift, you can bypass doing full sorts each step
Having said that: if the spikes are in the input data then that is where this should be applied; but if the spikes are real "jerks" (i.e. occurring in the second derivative) then that is where it should be applied.
Since the derivative process amplifies higher order noises one has to careful.  If I was doing what you describe I would impose the median filter on the source data, first differences, and then on second differences (acceleration).  And then examine the results; look inside the algorithm and understand what data is tossed! 
There is an alternate form: you examine a shift register of the data for min's and max's and just toss the extremes.
Both techniques incur some data loss that has to be taken into account.  You can interpolate, which is a little expensive, or just accommodate a lower sampling rate; say one in ten samples will always be tossed.