diff --git a/roboticstoolbox/examples/puma_fdyn.py b/roboticstoolbox/examples/puma_fdyn.py
index b8daead5e..dd97d9b30 100644
--- a/roboticstoolbox/examples/puma_fdyn.py
+++ b/roboticstoolbox/examples/puma_fdyn.py
@@ -7,13 +7,13 @@
 p560 = p560.nofriction()
 
 # print the kinematic & dynamic parameters
-p560.printdyn()
+# p560.printdyn() not working
 
 # simulate motion over 5s with zero torque input
 d = p560.fdyn(5, p560.qr, dt=0.05)
 
 # show the joint angle trajectory
-rtb.tools.trajectory.qplot(d.q)
+rtb.tools.xplot(d.q) 
 
 # animate it
 p560.plot(d.q)  # movie='falling_puma.gif')
diff --git a/roboticstoolbox/robot/Dynamics.py b/roboticstoolbox/robot/Dynamics.py
index e68ae8445..6b6c27ff6 100644
--- a/roboticstoolbox/robot/Dynamics.py
+++ b/roboticstoolbox/robot/Dynamics.py
@@ -1036,7 +1036,7 @@ def coriolis_x(
             if Mx is None:
                 Mx = self.inertia_x(q[0, :], Ji=Ji)
             if Jd is None:
-                Jd = self.jacob_dot(q[0, :], qd[0, :], J0=Ja)
+                Jd = self.jacob0_dot(q[0, :], qd[0, :], J0=Ja)
             return Ji.T @ (C - Mx @ Jd) @ Ji
         else:
             # trajectory case
@@ -1053,7 +1053,7 @@ def coriolis_x(
 
                 C = self.coriolis(qk, qdk)
                 Mx = self.inertia_x(qk, Ji=Ji)
-                Jd = self.jacob_dot(qk, qdk, J0=J)
+                Jd = self.jacob0_dot(qk, qdk, J0=J)
 
                 Ct[k, :, :] = Ji.T @ (C - Mx @ Jd) @ Ji
 
@@ -1262,7 +1262,7 @@ def accel_x(
 
             # need Jacobian dot
             qdk = Ji @ xdk
-            Jd = self.jacob_dot(qk, qdk, J0=J)
+            Jd = self.jacob0_dot(qk, qdk, J0=J)
 
             xdd[k, :] = T @ (Jd @ qdk + J @ qdd)