diff --git a/build/bin/mainV8.exe b/build/bin/mainV8.exe
index 1b6ac81..805133e 100644
Binary files a/build/bin/mainV8.exe and b/build/bin/mainV8.exe differ
diff --git a/src/collections/methods/lower_body.cpp b/src/collections/methods/lower_body.cpp
index 9803bd1..71cac6a 100644
--- a/src/collections/methods/lower_body.cpp
+++ b/src/collections/methods/lower_body.cpp
@@ -75,5 +75,10 @@ bool Lower_Body::setTransparency(float alpha){
 }
 
 void Lower_Body::update(){
-    
+    float sxAcc = sx->getZ_Acc();
+    float dxAcc = dx->getZ_Acc();
+
+    float totAcc = sxAcc + dxAcc;
+
+    t->body.setTanAcc({0,totAcc,0});
 }
\ No newline at end of file
diff --git a/src/rigidbody/methods/rb_class.cpp b/src/rigidbody/methods/rb_class.cpp
index 7b0fb78..dfaa7b0 100755
--- a/src/rigidbody/methods/rb_class.cpp
+++ b/src/rigidbody/methods/rb_class.cpp
@@ -128,7 +128,8 @@ void rigidbody::calcRot(const float Dtime){
 
     i=0;
     for (auto axes : rot){
-        axes += 0.5 * tmpTanAcc[i] * pow(Dtime,2);
+        rot[i] = axes + (0.5 * tmpTanAcc[i] * pow(Dtime,2));
+        i++;
     }
 
 }
diff --git a/src/sfml_util.cpp b/src/sfml_util.cpp
index 30a9cb6..0547348 100644
--- a/src/sfml_util.cpp
+++ b/src/sfml_util.cpp
@@ -81,6 +81,10 @@ void State::update(){
     std::vector<JointInterface*> collJoints;
     */
 
+    for (auto i : collections){
+        i->update();
+    }
+
     for (auto i : createdColl){
         if (play){
             for (auto j : i.pieces){