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It's possible that you have a problem with your clutch. Alternatively, you may simply be releasing the clutch too early or too suddenly when changing gear, not giving the various cogs sufficient time to 'mesh' properly. First gear is a powerful gear, and requires more care when changing up from (or down to) than most others. Fully depress the clutch and lay off the revs when changing to second gear, and try to effect a slower, more gradual release when taking your foot off the clutch. As an added precaution, try to change up to second gear at lower speeds.

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Q: Why does my car shudder when going from first to second gear?
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