Not really. Acceleration is related to torque so jerk is the rate of change of current in the motor. Current in an electric motor goes from 0-100% ~10k times per second (PWM), so the motor doesn't notice much difference.
>Current in an electric motor goes from 0-100% ~10k times per second (PWM)
That's just the voltage across the terminals. The reason why this works is precisely because current doesn't go from 0-100% with the voltage. PWM is relying on the inductance of the motor to keep the current the same as it would be if the average voltage was applied across the terminals.
