diff --git a/Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs b/Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs
index 46fd663..17e21c6 100644
--- a/Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs
+++ b/Assets/BetterPhysics/Runtime/Scripts/BetterRigidbody.cs
@@ -57,11 +57,11 @@ public void SetLimit(int index, SpeedLimit limit) {
         public int LimitCount => limits.Count;
 
         private void FixedUpdate() {
-            if (!_rb.isKinematic) {
+            if (!_rb.isKinematic && _exemptedVelocityChange != Vector3.zero) {
                 // Apply exempted newtons directly to the velocity
                 _rb.AddLinearVelocity(_exemptedVelocityChange);
+                _exemptedVelocityChange = Vector3.zero;
             }
-            _exemptedVelocityChange = Vector3.zero;
             
             ApplyLimits();
         }
@@ -176,7 +176,8 @@ private void ApplyHardLimit(SpeedLimit limit) {
             switch (limit.Directionality) {
                 case Directionality.Omnidirectional:
                     Vector3 clampedVelocity = Vector3.ClampMagnitude(expectedNewVelocity, limit.ScalarLimit);
-                    
+
+                    if (currentVelocity == clampedVelocity && accumulatedNewtons == 0) return;
                     // We're hard clamping so remove all accumulated force
                     _rb.AddForce(-accumulatedNewtons);
                     _rb.SetLinearVelocity(clampedVelocity);
@@ -193,6 +194,8 @@ private void ApplyHardLimit(SpeedLimit limit) {
                             clampedNewVelocity[i] = Mathf.Clamp(clampedNewVelocity[i], -max[i], max[i]);
                         }
                     }
+
+                    if (currentVelocity == clampedVelocity && accumulatedNewtons == 0) return;
                     
                     // We're hard clamping so remove all accumulated force
                     _rb.AddForce(-accumulatedNewtons);
@@ -216,6 +219,8 @@ private void ApplyHardLimit(SpeedLimit limit) {
 
                     Vector3 clampedWorldVelocity = _rb.rotation * clampedLocalVelocity;
 
+                    if (currentVelocity == clampedWorldVelocity && accumulatedNewtons == 0) return;
+
                     // We're hard clamping so remove all accumulated force
                     _rb.AddForce(-accumulatedNewtons);
                     _rb.SetLinearVelocity(clampedWorldVelocity);
@@ -838,4 +843,4 @@ private Vector3 CalculateVelocityChangeWithSoftLimit(in Vector3 currentVelocity,
 
         #endregion
     }
-}
\ No newline at end of file
+}