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Are you driving a stick? And if so are you sort of new to it? When I first got my yj it was my first 5 speed and taking off it it sometimes jumped cause I wasn't fluid at disengaging and engaging the clutch with the gas yet. Now it's just fine
 

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is your jeep lifted?
if so, how much and in what way(SUA, SOA, etc)
many things can cause a feeling of hopping or shacking at take off, a little more info on your jeep will help the members of this forum get to the cause of it.
 

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like posted, there are a few things that can cause hopping. an inexperienced driver, bad motor mounts, bad tranny mount, binding in the drive shaft etc.
If it does like mine and pulls away smooth where cold but jerks when warm its probably a worn clutch or a weak pressure plate, I'll know which one for sure next week when I replace it.
 
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