diff --git a/Migration.md b/Migration.md
index a1df392c5c..2e55298ea9 100644
--- a/Migration.md
+++ b/Migration.md
@@ -5,6 +5,14 @@ Deprecated code produces compile-time warnings. These warning serve as
 notification to users that their code should be upgraded. The next major
 release will remove the deprecated code.
 
+## Gazebo Sim 8.x to 9.0
+
+ * **Modified**:
+   + In the Physics system, all `*VelocityCmd` components are now deleted after
+     each time step, whereas previously the component values were set to `0`
+     after each time step. Persistent velocity commands should be reapplied at
+     each time step.
+
 ## Gazebo Sim 7.x to 8.0
 * **Deprecated**
     + `gz::sim::components::Factory::Register(const std::string &_type, ComponentDescriptorBase *_compDesc)` and
diff --git a/src/systems/multicopter_motor_model/MulticopterMotorModel.cc b/src/systems/multicopter_motor_model/MulticopterMotorModel.cc
index 8e6e421ce9..12dcab4c86 100644
--- a/src/systems/multicopter_motor_model/MulticopterMotorModel.cc
+++ b/src/systems/multicopter_motor_model/MulticopterMotorModel.cc
@@ -447,14 +447,6 @@ void MulticopterMotorModel::PreUpdate(const UpdateInfo &_info,
     doUpdateForcesAndMoments = false;
   }
 
-  if (!_ecm.Component<components::JointVelocityCmd>(
-      this->dataPtr->jointEntity))
-  {
-    _ecm.CreateComponent(this->dataPtr->jointEntity,
-        components::JointVelocityCmd({0}));
-    doUpdateForcesAndMoments = false;
-  }
-
   if (!_ecm.Component<components::WorldPose>(this->dataPtr->linkEntity))
   {
     _ecm.CreateComponent(this->dataPtr->linkEntity, components::WorldPose());
@@ -682,11 +674,10 @@ void MulticopterMotorModelPrivate::UpdateForcesAndMoments(
       refMotorRotVel = this->rotorVelocityFilter->UpdateFilter(
           this->refMotorInput, this->samplingTime);
 
-      const auto jointVelCmd = _ecm.Component<components::JointVelocityCmd>(
-          this->jointEntity);
-      *jointVelCmd = components::JointVelocityCmd(
-          {this->turningDirection * refMotorRotVel
-                              / this->rotorVelocitySlowdownSim});
+      _ecm.SetComponentData<components::JointVelocityCmd>(
+        this->jointEntity,
+        {this->turningDirection * refMotorRotVel
+                                / this->rotorVelocitySlowdownSim});
     }
   }
 }
diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc
index 1f6defbf44..6a56cb101c 100644
--- a/src/systems/physics/Physics.cc
+++ b/src/systems/physics/Physics.cc
@@ -3628,12 +3628,20 @@ void PhysicsPrivate::UpdateSim(EntityComponentManager &_ecm,
         return true;
       });
 
-  _ecm.Each<components::JointVelocityCmd>(
-      [&](const Entity &, components::JointVelocityCmd *_vel) -> bool
-      {
-        std::fill(_vel->Data().begin(), _vel->Data().end(), 0.0);
-        return true;
-      });
+  {
+    std::vector<Entity> entitiesJointVelocityCmd;
+    _ecm.Each<components::JointVelocityCmd>(
+        [&](const Entity &_entity, components::JointVelocityCmd *) -> bool
+        {
+          entitiesJointVelocityCmd.push_back(_entity);
+          return true;
+        });
+
+    for (const auto entity : entitiesJointVelocityCmd)
+    {
+      _ecm.RemoveComponent<components::JointVelocityCmd>(entity);
+    }
+  }
 
   _ecm.Each<components::SlipComplianceCmd>(
       [&](const Entity &, components::SlipComplianceCmd *_slip) -> bool
@@ -3641,21 +3649,37 @@ void PhysicsPrivate::UpdateSim(EntityComponentManager &_ecm,
         std::fill(_slip->Data().begin(), _slip->Data().end(), 0.0);
         return true;
       });
-  GZ_PROFILE_END();
 
-  _ecm.Each<components::AngularVelocityCmd>(
-      [&](const Entity &, components::AngularVelocityCmd *_vel) -> bool
-      {
-        _vel->Data() = math::Vector3d::Zero;
-        return true;
-      });
+  {
+    std::vector<Entity> entitiesAngularVelocityCmd;
+    _ecm.Each<components::AngularVelocityCmd>(
+        [&](const Entity &_entity, components::AngularVelocityCmd *) -> bool
+        {
+          entitiesAngularVelocityCmd.push_back(_entity);
+          return true;
+        });
 
-  _ecm.Each<components::LinearVelocityCmd>(
-      [&](const Entity &, components::LinearVelocityCmd *_vel) -> bool
-      {
-        _vel->Data() = math::Vector3d::Zero;
-        return true;
-      });
+    for (const auto entity : entitiesAngularVelocityCmd)
+    {
+      _ecm.RemoveComponent<components::AngularVelocityCmd>(entity);
+    }
+  }
+
+  {
+    std::vector<Entity> entitiesLinearVelocityCmd;
+    _ecm.Each<components::LinearVelocityCmd>(
+        [&](const Entity &_entity, components::LinearVelocityCmd *) -> bool
+        {
+          entitiesLinearVelocityCmd.push_back(_entity);
+          return true;
+        });
+
+    for (const auto entity : entitiesLinearVelocityCmd)
+    {
+      _ecm.RemoveComponent<components::LinearVelocityCmd>(entity);
+    }
+  }
+  GZ_PROFILE_END();
 
   // Update joint positions
   GZ_PROFILE_BEGIN("Joints");
diff --git a/src/systems/trajectory_follower/TrajectoryFollower.cc b/src/systems/trajectory_follower/TrajectoryFollower.cc
index 1db5e1c2d0..e295686946 100644
--- a/src/systems/trajectory_follower/TrajectoryFollower.cc
+++ b/src/systems/trajectory_follower/TrajectoryFollower.cc
@@ -111,9 +111,6 @@ class gz::sim::systems::TrajectoryFollowerPrivate
   /// \brief Whether the trajectory follower behavior should be paused or not.
   public: bool paused = false;
 
-  /// \brief Angular velocity set to zero
-  public: bool zeroAngVelSet = false;
-
   /// \brief Force angular velocity to be zero when bearing is reached
   public: bool forceZeroAngVel = false;
 };
@@ -390,37 +387,22 @@ void TrajectoryFollower::PreUpdate(
   // Transform the force and torque to the world frame.
   // Move commands. The vehicle always move forward (X direction).
   gz::math::Vector3d forceWorld;
+  gz::math::Vector3d torqueWorld;
   if (std::abs(bearing.Degree()) <= this->dataPtr->bearingTolerance)
   {
     forceWorld = (*comPose).Rot().RotateVector(
       gz::math::Vector3d(this->dataPtr->forceToApply, 0, 0));
 
     // force angular velocity to be zero when bearing is reached
-    if (this->dataPtr->forceZeroAngVel && !this->dataPtr->zeroAngVelSet &&
+    if (this->dataPtr->forceZeroAngVel &&
         math::equal (std::abs(bearing.Degree()), 0.0,
         this->dataPtr->bearingTolerance * 0.5))
     {
       this->dataPtr->link.SetAngularVelocity(_ecm, math::Vector3d::Zero);
-      this->dataPtr->zeroAngVelSet = true;
     }
   }
-  gz::math::Vector3d torqueWorld;
-  if (std::abs(bearing.Degree()) > this->dataPtr->bearingTolerance)
+  else
   {
-    // remove angular velocity component otherwise the physics system will set
-    // the zero ang vel command every iteration
-    if (this->dataPtr->forceZeroAngVel && this->dataPtr->zeroAngVelSet)
-    {
-      auto angVelCmdComp = _ecm.Component<components::AngularVelocityCmd>(
-          this->dataPtr->link.Entity());
-      if (angVelCmdComp)
-      {
-        _ecm.RemoveComponent<components::AngularVelocityCmd>(
-          this->dataPtr->link.Entity());
-        this->dataPtr->zeroAngVelSet = false;
-      }
-    }
-
     int sign = static_cast<int>(std::abs(bearing.Degree()) / bearing.Degree());
     torqueWorld = (*comPose).Rot().RotateVector(
        gz::math::Vector3d(0, 0, sign * this->dataPtr->torqueToApply));
diff --git a/test/worlds/quadcopter.sdf b/test/worlds/quadcopter.sdf
index bc93489ee5..b45f431aa4 100644
--- a/test/worlds/quadcopter.sdf
+++ b/test/worlds/quadcopter.sdf
@@ -91,7 +91,7 @@
           </geometry>
         </collision>
         <visual name="rotor_0_visual">
-          <pose>0 0 0 1.57 0 0 0</pose>
+          <pose>0 0 0 1.57 0 0</pose>
           <geometry>
             <cylinder>
               <length>0.2</length>
@@ -136,7 +136,7 @@
           </geometry>
         </collision>
         <visual name="rotor_1_visual">
-          <pose>0 0 0 1.57 0 0 0</pose>
+          <pose>0 0 0 1.57 0 0</pose>
           <geometry>
             <cylinder>
               <length>0.2</length>
@@ -181,7 +181,7 @@
           </geometry>
         </collision>
         <visual name="rotor_2_visual">
-          <pose>0 0 0 1.57 0 0 0</pose>
+          <pose>0 0 0 1.57 0 0</pose>
           <geometry>
             <cylinder>
               <length>0.2</length>
@@ -226,7 +226,7 @@
           </geometry>
         </collision>
         <visual name="rotor_3_visual">
-          <pose>0 0 0 1.57 0 0 0</pose>
+          <pose>0 0 0 1.57 0 0</pose>
           <geometry>
             <cylinder>
               <length>0.2</length>
diff --git a/test/worlds/quadcopter_velocity_control.sdf b/test/worlds/quadcopter_velocity_control.sdf
index 09390c0274..1650b5852c 100644
--- a/test/worlds/quadcopter_velocity_control.sdf
+++ b/test/worlds/quadcopter_velocity_control.sdf
@@ -91,7 +91,7 @@
           </geometry>
         </collision>
         <visual name="rotor_0_visual">
-          <pose>0 0 0 1.57 0 0 0</pose>
+          <pose>0 0 0 1.57 0 0</pose>
           <geometry>
             <cylinder>
               <length>0.2</length>
@@ -136,7 +136,7 @@
           </geometry>
         </collision>
         <visual name="rotor_1_visual">
-          <pose>0 0 0 1.57 0 0 0</pose>
+          <pose>0 0 0 1.57 0 0</pose>
           <geometry>
             <cylinder>
               <length>0.2</length>
@@ -181,7 +181,7 @@
           </geometry>
         </collision>
         <visual name="rotor_2_visual">
-          <pose>0 0 0 1.57 0 0 0</pose>
+          <pose>0 0 0 1.57 0 0</pose>
           <geometry>
             <cylinder>
               <length>0.2</length>
@@ -226,7 +226,7 @@
           </geometry>
         </collision>
         <visual name="rotor_3_visual">
-          <pose>0 0 0 1.57 0 0 0</pose>
+          <pose>0 0 0 1.57 0 0</pose>
           <geometry>
             <cylinder>
               <length>0.2</length>