diff --git a/crazyflow/dynamics/first_principles/dynamics.py b/crazyflow/dynamics/first_principles/dynamics.py
index 6f56ab1..70ee0fd 100644
--- a/crazyflow/dynamics/first_principles/dynamics.py
+++ b/crazyflow/dynamics/first_principles/dynamics.py
@@ -141,7 +141,7 @@ def dynamics(
     )
     torque_inertia = prop_inertia * xp.stack(
         [
-            -ang_vel[..., 1] * xp.sum(mixing_matrix[..., -1, :] * rotor_vel_rads, axis=-1),
+            ang_vel[..., 1] * xp.sum(mixing_matrix[..., -1, :] * rotor_vel_rads, axis=-1),
             -ang_vel[..., 0] * xp.sum(mixing_matrix[..., -1, :] * rotor_vel_rads, axis=-1),
             xp.sum(mixing_matrix[..., -1, :] * rotor_vel_dot_rads, axis=-1),
         ],
@@ -261,7 +261,7 @@ def symbolic_dynamics(
     rotor_vel_rads = symbols.rotor_vel * rpm_to_rad
     rotor_vel_dot_rads = rotor_vel_dot * rpm_to_rad if model_rotor_vel else symbols.rotor_vel * 0.0
     torque_inertia = prop_inertia * cs.vertcat(
-        -symbols.ang_vel[1] * cs.sum(mixing_matrix[-1, :] * rotor_vel_rads),
+        symbols.ang_vel[1] * cs.sum(mixing_matrix[-1, :] * rotor_vel_rads),
         -symbols.ang_vel[0] * cs.sum(mixing_matrix[-1, :] * rotor_vel_rads),
         cs.sum(mixing_matrix[-1, :] * rotor_vel_dot_rads),
     )