The derivative can be calculated using the RealTime Expressions function diff(a,b).
These built-in functions are also listed in the Appendix D.2.2 of the User's Guide.

For example, to calculate the derivative of the yaw acceleration, add the following Realtime Expressions in the global maneuver commands:

first() ? Qu::derivative_YawAcc = 0 : derivative_YawAcc = diff(Car.YawAcc, Time)