diff --git a/include/bodydynamics/math/force_torque_inertial_delta_tools.h b/include/bodydynamics/math/force_torque_inertial_delta_tools.h
index 42081eba2c3aa4e5e1bc68cf349fa6a57de6cc20..e5a87d1bf0c6898ecbb5b5a10b3a5a4b4ad709f1 100644
--- a/include/bodydynamics/math/force_torque_inertial_delta_tools.h
+++ b/include/bodydynamics/math/force_torque_inertial_delta_tools.h
@@ -1219,10 +1219,10 @@ void forces2acc(const MatrixBase<D1>& _force,
     const Matrix3t& J_angacc_angvel    = I_inv * (skew(I * _angvel) - angvel_x * I);  // (38)
 
     // Output Jacobians
-    _J_acc_force  = Matrix<S, 3, 3>::Identity() / _mass;  // (59)
-    _J_acc_torque = J_acc_angacc * J_angacc_torque;       // (?)
     _J_acc_angvel =
         J_acc_angacc * J_angacc_angvel - angvel_x * J_angvelcom_angvel + skew(_angvel.cross(_com));  // (37)
+    _J_acc_force   = Matrix<S, 3, 3>::Identity() / _mass;                                            // (59)
+    _J_acc_torque  = J_acc_angacc * J_angacc_torque;                                                 // (?)
     _J_acc_com     = -angacc_x - angvel_x * angvel_x;                                                // (51)
     _J_acc_inertia = J_acc_angacc * J_angacc_inertia;                                                // (55)
     _J_acc_mass    = -_force / (_mass * _mass);                                                      // (50)