diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp
index 9f067e51c6..7a0ead3e0d 100644
--- a/libraries/physics/src/EntityMotionState.cpp
+++ b/libraries/physics/src/EntityMotionState.cpp
@@ -731,7 +731,9 @@ void EntityMotionState::measureBodyAcceleration() {
         // hence the equation for acceleration is: a = (v1 / (1 - D)^dt - v0) / dt
         glm::vec3 velocity = getBodyLinearVelocityGTSigma();
 
-        _measuredAcceleration = (velocity / powf(1.0f - _body->getLinearDamping(), dt) - _lastVelocity) * invDt;
+        const float MIN_DAMPING_FACTOR = 0.01f;
+        float invDampingAttenuationFactor = 1.0f / glm::max(powf(1.0f - _body->getLinearDamping(), dt), MIN_DAMPING_FACTOR);
+        _measuredAcceleration = (velocity * invDampingAttenuationFactor - _lastVelocity) * invDt;
         _lastVelocity = velocity;
         if (numSubsteps > PHYSICS_ENGINE_MAX_NUM_SUBSTEPS) {
             // we fall in here when _lastMeasureStep is old: the body has just become active