diff --git a/wpilibcExamples/src/main/cpp/snippets/AccelerometerCollision/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/AccelerometerCollision/cpp/Robot.cpp
new file mode 100644
index 0000000000..e5d2d83f10
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/snippets/AccelerometerCollision/cpp/Robot.cpp
@@ -0,0 +1,40 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <frc/BuiltInAccelerometer.h>
+#include <frc/TimedRobot.h>
+#include <frc/smartdashboard/SmartDashboard.h>
+
+/**
+ * Collision detection snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
+ */
+class Robot : public frc::TimedRobot {
+ public:
+  void RobotPeriodic() override {
+    // Gets the current accelerations in the X and Y directions
+    double xAccel = m_accelerometer.GetX();
+    double yAccel = m_accelerometer.GetY();
+    // Calculates the jerk in the X and Y directions
+    // Divides by .02 because default loop timing is 20ms
+    double xJerk = (xAccel - m_prevXAccel) / 0.02;
+    double yJerk = (yAccel - m_prevYAccel) / 0.02;
+    m_prevXAccel = xAccel;
+    m_prevYAccel = yAccel;
+
+    frc::SmartDashboard::PutNumber("X Jerk", xJerk);
+    frc::SmartDashboard::PutNumber("Y Jerk", yJerk);
+  }
+
+ private:
+  double m_prevXAccel = 0.0;
+  double m_prevYAccel = 0.0;
+  frc::BuiltInAccelerometer m_accelerometer;
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif
diff --git a/wpilibcExamples/src/main/cpp/snippets/snippets.json b/wpilibcExamples/src/main/cpp/snippets/snippets.json
index e3a8ba57bb..43d37a4867 100644
--- a/wpilibcExamples/src/main/cpp/snippets/snippets.json
+++ b/wpilibcExamples/src/main/cpp/snippets/snippets.json
@@ -134,5 +134,15 @@
     ],
     "foldername": "BuiltInAccelerometer",
     "gradlebase": "cpp"
+  },
+  {
+    "name": "AccelerometerCollisionDetection",
+    "description": "Snippets of Accelerometer collision detection for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Accelerometer"
+    ],
+    "foldername": "AccelerometerCollision",
+    "gradlebase": "cpp"
   }
 ]
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/accelerometercollision/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/accelerometercollision/Main.java
new file mode 100644
index 0000000000..66cda16a11
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/accelerometercollision/Main.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.snippets.accelerometercollision;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+  private Main() {}
+
+  /**
+   * Main initialization function. Do not perform any initialization here.
+   *
+   * <p>If you change your main robot class, change the parameter type.
+   */
+  public static void main(String... args) {
+    RobotBase.startRobot(Robot::new);
+  }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/accelerometercollision/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/accelerometercollision/Robot.java
new file mode 100644
index 0000000000..86d343c8c2
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/accelerometercollision/Robot.java
@@ -0,0 +1,36 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.snippets.accelerometercollision;
+
+import edu.wpi.first.wpilibj.BuiltInAccelerometer;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * Collision detection snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
+ */
+@SuppressWarnings("checkstyle:VariableDeclarationUsageDistance")
+public class Robot extends TimedRobot {
+  double m_prevXAccel;
+  double m_prevYAccel;
+  BuiltInAccelerometer m_accelerometer = new BuiltInAccelerometer();
+
+  @Override
+  public void robotPeriodic() {
+    // Gets the current accelerations in the X and Y directions
+    double xAccel = m_accelerometer.getX();
+    double yAccel = m_accelerometer.getY();
+    // Calculates the jerk in the X and Y directions
+    // Divides by .02 because default loop timing is 20ms
+    double xJerk = (xAccel - m_prevXAccel) / 0.02;
+    double yJerk = (yAccel - m_prevYAccel) / 0.02;
+    m_prevXAccel = xAccel;
+    m_prevYAccel = yAccel;
+
+    SmartDashboard.putNumber("X Jerk", xJerk);
+    SmartDashboard.putNumber("Y Jerk", yJerk);
+  }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/snippets.json b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/snippets.json
index 04d49e34f7..1edef3dc4a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/snippets.json
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/snippets.json
@@ -147,5 +147,16 @@
     "foldername": "builtinaccelerometer",
     "gradlebase": "java",
     "mainclass": "Main"
+  },
+  {
+    "name": "AccelerometerCollisionDetection",
+    "description": "Snippets of Accelerometer for collision detection for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Accelerometer"
+    ],
+    "foldername": "accelerometercollision",
+    "gradlebase": "java",
+    "mainclass": "Main"
   }
 ]