diff --git a/src/ui/initialize.jl b/src/ui/initialize.jl
index 6b2f9a4f..948880d1 100644
--- a/src/ui/initialize.jl
+++ b/src/ui/initialize.jl
@@ -78,9 +78,9 @@ end
 function setForce!(body::Body; 
         F::AbstractVector = SA[0;0;0], τ::AbstractVector = SA[0;0;0], p::AbstractVector = SA[0;0;0]
     )
-    
-    τ += vrotate(torqueFromForce(F, p),inv(body.state.qc)) # in local coordinates
-    setForce!(body.state, F, τ)
+    # F and p in local coordinates
+    τ += torqueFromForce(F, p) # in local coordinates
+    setForce!(body.state, vrotate(F,body.state.qc), τ)
     return 
 end
 
diff --git a/test/examples/axes.jl b/test/examples/axes.jl
index 9dfb2bf2..01bc5a91 100644
--- a/test/examples/axes.jl
+++ b/test/examples/axes.jl
@@ -32,9 +32,3 @@ mech = Mechanism(origin, links, constraints, g = 0.)
 setPosition!(origin,link1,Δq = UnitQuaternion(RotZ(0.)),p2=v1)
 setPosition!(origin,link2,Δq = UnitQuaternion(RotX(0.)),p2=v2)
 setPosition!(origin,link3,Δq = UnitQuaternion(RotX(0.)),p2=v3)
-# setVelocity!(origin,link1,Δω = [0.;1;1],p2=v1)
-# setVelocity!(origin,link2,Δω = [0.;1;1],p2=v2)
-# setVelocity!(origin,link3,Δω = [0.;1;1],p2=v3)
-# setVelocity!(link2,v = [-2.5;2.5;5],ω = [2;4;10.])
-# setForce!(link1,τ=[0.1;0;0])
-
diff --git a/test/examples/joint_force.jl b/test/examples/joint_force.jl
index 5529a8e9..da325f44 100644
--- a/test/examples/joint_force.jl
+++ b/test/examples/joint_force.jl
@@ -40,7 +40,3 @@ end
 mech = Mechanism(origin, links, constraints, g = 0.)
 setPosition!(link1,q = UnitQuaternion(RotX(pi / 2)))
 setPosition!(link1,link2,p1 = vert12,p2 = vert21)
-# setVelocity!(link1,ω=[2.;0;0])
-# setVelocity!(link1,link2,p1=vert12,p2=vert21)
-
-# setForce!([[0.1];nothing],joint1to2,mech)
diff --git a/test/examples/joint_torque.jl b/test/examples/joint_torque.jl
index 369b6e83..76da7438 100644
--- a/test/examples/joint_torque.jl
+++ b/test/examples/joint_torque.jl
@@ -35,5 +35,3 @@ end
 
 mech = Mechanism(origin, links, constraints, g = 0.)
 setPosition!(link1,link2,p1 = vert12,p2 = vert11)
-
-# setForce!(mech, joint1to2e, [0.05])
diff --git a/test/examples/slider_crank.jl b/test/examples/slider_crank.jl
index 8a8bfeab..82bc41b5 100644
--- a/test/examples/slider_crank.jl
+++ b/test/examples/slider_crank.jl
@@ -45,8 +45,3 @@ end
 mech = Mechanism(origin, links, constraints)
 setPosition!(link1,x = -p0)
 setPosition!(link2,x = p3 + p1)
-
-# a = [0;0;0;0;0.3]
-
-# setForce!(mech,joint0to12,a)
-# setForce!(link2,τ=[0;0;0.3])
diff --git a/test/initialization/body_initialization_test.jl b/test/initialization/body_initialization_test.jl
index 2b55a89e..5a824e67 100644
--- a/test/initialization/body_initialization_test.jl
+++ b/test/initialization/body_initialization_test.jl
@@ -120,8 +120,8 @@ for i=1:3
     truex10 = zeros(3)
     trueq10 = q1
 
-    trueF0 = F 
-    trueτ0 = τ + vrotate(cross(p, F),inv(q1))
+    trueF0 = vrotate(F,q1)
+    trueτ0 = τ + cross(p, F)
 
     truev1 = trueF0*Δt
     trueω1 = vrotate(trueτ0*Δt,q1)
diff --git a/test/initialization/prismatic_joint_test.jl b/test/initialization/prismatic_joint_test.jl
index 1006161d..18f194e4 100644
--- a/test/initialization/prismatic_joint_test.jl
+++ b/test/initialization/prismatic_joint_test.jl
@@ -39,11 +39,10 @@ for i=1:10
     setVelocity!(mech,joint1,vω)
     function control!(mechanism, k)
         if k==1
-            setForce!(mech,joint1,Fτ) 
+            setForce!(mechanism,joint1,Fτ) 
         end
         return
     end
-    # setForce!(mech,joint1,Fτ)    
 
     storage = simulate!(mech, 10., control!, record = true)
 
diff --git a/test/initialization/revolute_joint_test.jl b/test/initialization/revolute_joint_test.jl
index b1a1cb16..cdf474df 100644
--- a/test/initialization/revolute_joint_test.jl
+++ b/test/initialization/revolute_joint_test.jl
@@ -37,11 +37,10 @@ for i=1:10
     setVelocity!(mech,joint1,vω)
     function control!(mechanism, k)
         if k==1
-            setForce!(mech,joint1,Fτ) 
+            setForce!(mechanism,joint1,Fτ) 
         end
         return
     end
-    # setForce!(mech,joint1,Fτ)
 
     storage = simulate!(mech, 10., control!, record = true)