# Can a Jacobian matrix be used to derive joint angles from end-effector linear and rotational velocity (without a filter)?

I have a 2-link, 2 degree of freedom robotic arm, that only measures linear acceleration at each link(through an accelerometer), and rotational velocity on each joint (through a gyroscope).

I know that through using the Jacobian matrix, I can compute link velocity and acceleration from joint angles, and through the inverse of the matrix I can compute joint velocities from joint angles and link acceleration.

However, I am not sure if I can compute joint angles using only the link linear and rotational acceleration? I am aware that the joint angle could be estimated by integrating the joint velocities (and applying some sort of filter), but is there an algebraic way this can be computed? It doesn't seem likely to me.