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Babies can have some occasional jerks of their hands and legs in sleep. It depends
Some shaking is normal especially if you can stop it by holding the child's leg while shaking and if it happens more during sleep.
However, it is easier to decide which one it is if the baby is seen.
So you should do a video recording & show a Paediatrician. Otherwise some may be a form of convulsion especially if the leg is stiff and you cannot stop it.