Malcolm Jenkins is clapping back at Orlando Scandrick ... callin' BS on his former teammate's criticism of him -- saying straight-up Scandrick is a "motherf**ker!"
If you missed it, Scandrick was picked up by the Eagles a few weeks ago ... but his tenure crashed and burned this week when Philly cut him after its epic loss to the Dallas Cowboys.
OS went on FS1's "Undisputed" on Friday to explain what went wrong ... and one of Scandrick's biggest gripes with the Eagles was with Jenkins -- a team captain.