diff --git a/joints.c b/joints.c
index fb1290b..37f8433 100644
--- a/joints.c
+++ b/joints.c
@@ -12,7 +12,8 @@ Body* init_body(int N, float link_length, float root_x, float root_y){
     body->link_length = link_length;
     body->links_lengths = (float *)calloc(N - 1, sizeof(float));
     body->total_length = link_length * (N - 1);
-    body->current_length = link_length * (N - 1);
+    body->current_length = body->total_length;
+    body->target_length = link_length * (N - 1);
     body->target = (Vector2){root_x, body->total_length};
     body->final_target = (Vector2){root_x, body->total_length};
     body->angle_limit = PI;
@@ -44,8 +45,12 @@ void set_body_target(Body* body, Vector2 new_target){
     body->final_target = new_target;
 }
 
-void set_current_length(Body* body, float new_length){
-    body->current_length = Clamp(new_length, 0, body->total_length);
+void set_length_target(Body* body, float new_length){
+    body->target_length = Clamp(new_length, 0, body->total_length);
+}
+
+void _update_body_length(Body* body){
+    body->current_length = Lerp(body->current_length, body->target_length, 0.2);
     body->N = (int)(body->current_length / body->link_length);
 
     for (int i=0; i< body->N; ++i)
@@ -91,6 +96,7 @@ Vector2 _limit_new_pos(Vector2 a, Vector2 b, Vector2 c, float length, float angl
 }
 
 void update_body(Body *body){
+    _update_body_length(body);
     body->target = Vector2Lerp(body->target, body->final_target, 0.2);
 
     // Check distance
diff --git a/joints.h b/joints.h
index 4f1fd7d..70618ac 100644
--- a/joints.h
+++ b/joints.h
@@ -14,6 +14,7 @@ typedef struct _Body {
     float link_length;
     float* links_lengths;
     float current_length;
+    float target_length;
     Joint* joints;
 } Body;
 
@@ -21,7 +22,8 @@ typedef struct _Body {
 Body* init_body(int N, float link_length, float root_x, float root_y);
 void set_body_root(Body* body, Vector2 new_pos);
 void set_body_target(Body* body, Vector2 new_target);
-void set_current_length(Body* body, float new_length);
+void set_length_target(Body* body, float new_length);
+void _update_body_length(Body* body);
 void update_body(Body* body);
 void draw_body(Body* body);
 void free_body(Body* body);
diff --git a/main.c b/main.c
index e5a2624..e91ee5b 100644
--- a/main.c
+++ b/main.c
@@ -6,16 +6,16 @@ int main(int argc, char** argv) {
     const unsigned int scrnHeight = 600;
 
     InitWindow(scrnWidth, scrnHeight, "FABRIK");
-    SetTargetFPS(30);
+    SetTargetFPS(60);
 
     Body* body = init_body(15, 20, 400, 500);
     bool follow_mode = false;
 
     while(!WindowShouldClose()){
         if (IsKeyReleased(KEY_O))
-            set_current_length(body, body->current_length - 10);
+            set_length_target(body, body->current_length - 30);
         if (IsKeyReleased(KEY_P))
-            set_current_length(body, body->current_length + 10);
+            set_length_target(body, body->current_length + 30);
         if (IsKeyReleased(KEY_F))
             follow_mode = !follow_mode;