The calculation of joint forces in biomechanics is usually based on the measurements of the kinematics of a given body segment, the estimation of the inertial properties of that segment and the solution of the 'inverse dynamics problem'. Such a process results in estimates of the joint forces and moments needed to sustain the monitored motion. This paper presents a new approach that combines position and acceleration measurements for the purpose of deriving high-quality joint force estimates. An experimental system that is based on an instrumented compound pendulum was designed and tested. The joint forces necessary to maintain a swinging motion of the pendulum were measured by an array of strain gauges, and were compared to the forces estimated by the integrated kinematic segment that measured the position and acceleration of the pendulum. The joint force measurements were also compared to the force estimates that were based on the calculated segmental acceleration generated by the differentiation of the segmental position alone. The results show a high degree of correlation between the forces estimated by the integrated segment and those measured by the strain gauges. The force estimates based on the position measurements alone were less accurate and noisier. The application of the integrated segment to the study of human kinetics is discussed and illustrated by the ankle and knee forces during slow walking. The results suggest that the use of accelerometers is necessary for the estimation of transients and high-frequency components of joint forces.