Truck jerking in first gear after stopping at stop sign

I have a 2002 Chevrolet S10 2 wheel drive Truck. It has approx 95,000 miles on it. It is a 4 cylinder manual transmission. I was on my way back to work and about 4 miles into the drive after stopping at a stop sign and beginning acceleration my Truck started jerking terribly. I couldn't get it past 10miles an hour because it was jerking so bad everytime I tried to accelerate. I tried switching gear but to no avail it kept bogging down and jerking. After going about a block like this it finally stopped and ran normally again. What could have possibly caused this? I noticed it a few other times in the past but it wasn't as bad as this time. It would jerk a little and be done with it. This time it didn't seem like it was going to snap out of it. Have any ideas?