diff --git a/src/roboticstoolbox/robot/Dynamics.py b/src/roboticstoolbox/robot/Dynamics.py
index dd6ca6950..bb6f95db4 100644
--- a/src/roboticstoolbox/robot/Dynamics.py
+++ b/src/roboticstoolbox/robot/Dynamics.py
@@ -1347,6 +1347,8 @@ def accel_x(
         q = getmatrix(q, (None, self.n))
         xd = getmatrix(xd, (None, 6))
         w = getmatrix(wrench, (None, 6))
+        if q.shape[0] != xd.shape[0] or q.shape[0] != w.shape[0]:
+            raise ValueError("q, xd and wrench must have the same number of rows")
         if q.shape[1] != 6:
             pinv = True
 
diff --git a/tests/test_accel_x_row_counts.py b/tests/test_accel_x_row_counts.py
new file mode 100644
index 000000000..0ed511a90
--- /dev/null
+++ b/tests/test_accel_x_row_counts.py
@@ -0,0 +1,53 @@
+"""Operational acceleration requires aligned trajectory rows."""
+
+import numpy as np
+import numpy.testing as npt
+import pytest
+
+from roboticstoolbox.models.DH import Panda, Puma560
+
+
+@pytest.mark.parametrize("robot_type", [Puma560, Panda])
+@pytest.mark.parametrize(
+    "rows", [(3, 1, 3), (3, 3, 1), (1, 3, 3), (3, 2, 3), (3, 3, 2), (2, 3, 3)]
+)
+def test_mismatched_trajectories_raise(
+    robot_type: type[Puma560] | type[Panda], rows: tuple[int, int, int]
+) -> None:
+    robot = robot_type()
+    pose = robot.qn if isinstance(robot, Puma560) else robot.qr
+    q = np.tile(pose, (rows[0], 1))
+    xd = np.full((rows[1], 6), 0.01)
+    wrench = np.full((rows[2], 6), 0.2)
+    with pytest.raises(ValueError, match="same number of rows"):
+        robot.accel_x(q, xd, wrench)
+
+
+@pytest.mark.parametrize("robot_type", [Puma560, Panda])
+@pytest.mark.parametrize("count", [1, 3])
+def test_matching_trajectories_match_individual_calls(
+    robot_type: type[Puma560] | type[Panda], count: int
+) -> None:
+    robot = robot_type()
+    pose = robot.qn if isinstance(robot, Puma560) else robot.qr
+    q = np.tile(pose, (count, 1)) + np.arange(count)[:, None] * 0.01
+    xd = np.arange(count * 6).reshape(count, 6) * 0.001
+    wrench = np.arange(count * 6).reshape(count, 6) * 0.01
+    saved = [value.copy() for value in (q, xd, wrench)]
+    expected = np.stack(
+        [robot.accel_x(qk, vk, wk) for qk, vk, wk in zip(q, xd, wrench)]
+    )
+    actual = robot.accel_x(q, xd, wrench)
+    assert actual.shape == ((6,) if count == 1 else (count, 6))
+    npt.assert_allclose(
+        actual, expected[0] if count == 1 else expected, atol=1e-10, rtol=1e-10
+    )
+    for old, current in zip(saved, (q, xd, wrench)):
+        npt.assert_array_equal(current, old)
+
+
+@pytest.mark.parametrize("robot_type", [Puma560, Panda])
+def test_empty_matching_trajectories(robot_type: type[Puma560] | type[Panda]) -> None:
+    robot = robot_type()
+    result = robot.accel_x(np.empty((0, robot.n)), np.empty((0, 6)), np.empty((0, 6)))
+    assert result.shape == (0, 6)