diff --git a/examples/Constraints/TestHingeTorque.cpp b/examples/Constraints/TestHingeTorque.cpp
index 3e321145c..bdc9c2f6a 100644
--- a/examples/Constraints/TestHingeTorque.cpp
+++ b/examples/Constraints/TestHingeTorque.cpp
@@ -85,7 +85,7 @@ void TestHingeTorque::stepSimulation(float deltaTime)
 		
 		for (int i=0;i<m_jointFeedback.size();i++)
 		{
-			b3Printf("Applied force B:(%f,%f,%f), torque B:(%f,%f,%f)\n", 
+			b3Printf("Applied force at the COM/Inertial frame B[%d]:(%f,%f,%f), torque B:(%f,%f,%f)\n", i,
 
 		
 				m_jointFeedback[i]->m_appliedForceBodyB.x(),
@@ -111,7 +111,7 @@ void TestHingeTorque::initPhysics()
 	createEmptyDynamicsWorld();
 	m_dynamicsWorld->getSolverInfo().m_splitImpulse = false;
 	
-    m_dynamicsWorld->setGravity(btVector3(0,-1,-10));
+    m_dynamicsWorld->setGravity(btVector3(0,0,-10));
     
 	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
 	int mode = 	btIDebugDraw::DBG_DrawWireframe
diff --git a/examples/MultiBody/TestJointTorqueSetup.cpp b/examples/MultiBody/TestJointTorqueSetup.cpp
index 19a525b98..300ced7db 100644
--- a/examples/MultiBody/TestJointTorqueSetup.cpp
+++ b/examples/MultiBody/TestJointTorqueSetup.cpp
@@ -235,7 +235,7 @@ void TestJointTorqueSetup::initPhysics()
             mbC->setAngularDamping(0.9f);
         }
         //
-    	m_dynamicsWorld->setGravity(btVector3(0,-1,-10));
+    	m_dynamicsWorld->setGravity(btVector3(0,0,-10));
 
         //////////////////////////////////////////////
         if(0)//numLinks > 0)
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp
index 9dbaed648..759871fb6 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -30,8 +30,9 @@
 #include "Bullet3Common/b3Logging.h"
 // #define INCLUDE_GYRO_TERM 
 
-///todo: determine if we need this option. If so, make a proper API, otherwise delete the global
+///todo: determine if we need these options. If so, make a proper API, otherwise delete those globals
 bool gJointFeedbackInWorldSpace = false;
+bool gJointFeedbackInJointFrame = false;
 
 namespace {
     const btScalar SLEEP_EPSILON = btScalar(0.05);  // this is a squared velocity (m^2 s^-2)
@@ -1026,18 +1027,28 @@ void btMultiBody::stepVelocitiesMultiDof(btScalar dt,
 
 		if (m_links[i].m_jointFeedback)
 		{
-
-		
 			m_internalNeedsJointFeedback = true;
-			//m_links[i].m_jointFeedback->m_spatialInertia = spatInertia[i+1];
+
+			btVector3 angularBotVec = (spatInertia[i+1]*spatAcc[i+1]+zeroAccSpatFrc[i+1]).m_bottomVec;
+			btVector3 linearTopVec = (spatInertia[i+1]*spatAcc[i+1]+zeroAccSpatFrc[i+1]).m_topVec;
+
+			if (gJointFeedbackInJointFrame)
+			{
+				//shift the reaction forces to the joint frame
+				//linear (force) component is the same
+				//shift the angular (torque, moment) component using the relative position,  m_links[i].m_dVector
+				 angularBotVec = angularBotVec - linearTopVec.cross(m_links[i].m_dVector);
+			}
+			
+
 			if (gJointFeedbackInWorldSpace)
 			{
-				m_links[i].m_jointFeedback->m_reactionForces.m_bottomVec = m_links[i].m_cachedWorldTransform.getBasis()*(spatInertia[i+1]*spatAcc[i+1]+zeroAccSpatFrc[i+1]).m_bottomVec;
-				m_links[i].m_jointFeedback->m_reactionForces.m_topVec = m_links[i].m_cachedWorldTransform.getBasis()*(spatInertia[i+1]*spatAcc[i+1]+zeroAccSpatFrc[i+1]).m_topVec;
+				m_links[i].m_jointFeedback->m_reactionForces.m_bottomVec = m_links[i].m_cachedWorldTransform.getBasis()*angularBotVec;
+				m_links[i].m_jointFeedback->m_reactionForces.m_topVec = m_links[i].m_cachedWorldTransform.getBasis()*linearTopVec;
 			} else
 			{
-				m_links[i].m_jointFeedback->m_reactionForces.m_bottomVec = (spatInertia[i+1]*spatAcc[i+1]+zeroAccSpatFrc[i+1]).m_bottomVec;
-				m_links[i].m_jointFeedback->m_reactionForces.m_topVec = (spatInertia[i+1]*spatAcc[i+1]+zeroAccSpatFrc[i+1]).m_topVec;
+				m_links[i].m_jointFeedback->m_reactionForces.m_bottomVec = angularBotVec;
+				m_links[i].m_jointFeedback->m_reactionForces.m_topVec = linearTopVec;
 			}	
 	}