diff --git a/include/bodydynamics/math/force_torque_inertial_delta_tools.h b/include/bodydynamics/math/force_torque_inertial_delta_tools.h
index 05041c069476b5d4857b3afcb8bf291befd4ca5a..430be43e5336599065e7f08fdf28a176c9bb5890 100644
--- a/include/bodydynamics/math/force_torque_inertial_delta_tools.h
+++ b/include/bodydynamics/math/force_torque_inertial_delta_tools.h
@@ -1388,7 +1388,9 @@ void tangent2delta(const MatrixBase<D1>& _tangent,
     Matrix<typename D1::Scalar, 3, 3> J_accd_inertia;
     Matrix<typename D1::Scalar, 3, 1> J_accd_mass;
 
-    forces2acc(force, torque, angvel, com, inertia, mass, acc_d, J_accd_force, J_accd_torque, J_accd_angvel,
+    forces2acc(force, torque, angvel, com, inertia, mass, 
+               acc_d, 
+               J_accd_force, J_accd_torque, J_accd_angvel,
                J_accd_com, J_accd_inertia, J_accd_mass);
 
     T dt2 = _dt * _dt;
@@ -1401,13 +1403,17 @@ void tangent2delta(const MatrixBase<D1>& _tangent,
     _delta_q     = exp_q(angvel * _dt);
     _delta_L     = torque * _dt;
 
+    // temporaries
+    const Matrix<typename D1::Scalar, 3, 3>& I_dt    = Matrix<typename D1::Scalar, 3, 3>::Identity() * _dt;
+    const Matrix<typename D1::Scalar, 3, 3>& I_dt2_2 = 0.5 * Matrix<typename D1::Scalar, 3, 3>::Identity() * dt2;
+
     // jacobians
-    Matrix<typename D1::Scalar, 3, 3> J_dpi_acci  = 0.5 * Matrix<typename D1::Scalar, 3, 3>::Identity() * dt2;
-    Matrix<typename D1::Scalar, 3, 3> J_dvi_acci  = Matrix<typename D1::Scalar, 3, 3>::Identity() * _dt;
-    const auto&                       J_dpd_accd  = J_dpi_acci;
-    const auto&                       J_dvd_accd  = J_dvi_acci;
+    Matrix<typename D1::Scalar, 3, 3> J_dpi_acci  = I_dt2_2;
+    Matrix<typename D1::Scalar, 3, 3> J_dvi_acci  = I_dt;
+    const auto&                       J_dpd_accd  = I_dt2_2;
+    const auto&                       J_dvd_accd  = I_dt;
     Matrix<typename D1::Scalar, 3, 3> J_dq_angvel = jac_SO3_right(angvel * _dt) * _dt;
-    Matrix<typename D1::Scalar, 3, 3> J_dl_torque = Matrix<typename D1::Scalar, 3, 3>::Identity() * _dt;
+    Matrix<typename D1::Scalar, 3, 3> J_dl_torque = I_dt;
 
     _J_delta_tangent.setZero();