diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5f11fbb0..1ed5a3f5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -24,6 +24,8 @@ will consitute of a breaking change warranting a new major release:
   - IMTQ assembly
   - Syrlinks assembly
   - Dual Lane Assembly
+- RWs are no longer commanded by the ACS Controller during safe mode. Instead the RW speed command
+  is set to 0 as part or the `doShutDown` of the RW handler.
 
 ## Fixed
 
diff --git a/mission/acs/RwHandler.cpp b/mission/acs/RwHandler.cpp
index 5ba5d7a3..87979ae8 100644
--- a/mission/acs/RwHandler.cpp
+++ b/mission/acs/RwHandler.cpp
@@ -55,6 +55,10 @@ void RwHandler::doShutDown() {
     PoolReadGuard pg(&tmDataset);
     tmDataset.setValidity(false, true);
   }
+  {
+    PoolReadGuard pg(&rwSpeedActuationSet);
+    rwSpeedActuationSet.setRwSpeed(0, 10);
+  }
   // The power switch is handled by the assembly, so we can go off here directly.
   setMode(MODE_OFF);
 }
diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 39eca18e..ff00d093 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -221,9 +221,8 @@ void AcsController::performSafe() {
 
   updateCtrlValData(errAng);
   updateActuatorCmdData(cmdDipolMtqs);
-  // commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
-  //                  acsParameters.magnetorquesParameter.torqueDuration, 0, 0, 0, 0,
-  //                  acsParameters.rwHandlingParameters.rampTime);
+  //  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
+  //                   acsParameters.magnetorquerParameter.torqueDuration);
 }
 
 void AcsController::performDetumble() {
@@ -472,6 +471,18 @@ void AcsController::performPointingCtrl() {
   //                   acsParameters.rwHandlingParameters.rampTime);
 }
 
+ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
+                                              uint16_t dipoleTorqueDuration) {
+  {
+    PoolReadGuard pg(&dipoleSet);
+    MutexGuard mg(torquer::lazyLock(), torquer::LOCK_TYPE, torquer::LOCK_TIMEOUT,
+                  torquer::LOCK_CTX);
+    torquer::NEW_ACTUATION_FLAG = true;
+    dipoleSet.setDipoles(xDipole, yDipole, zDipole, dipoleTorqueDuration);
+  }
+  return returnvalue::OK;
+}
+
 ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
                                               uint16_t dipoleTorqueDuration, int32_t rw1Speed,
                                               int32_t rw2Speed, int32_t rw3Speed, int32_t rw4Speed,
diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h
index 76cfe7b5..44e87e7e 100644
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@@ -105,6 +105,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void modeChanged(Mode_t mode, Submode_t submode);
   void announceMode(bool recursive);
 
+  ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
+                                 uint16_t dipoleTorqueDuration);
   ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
                                  uint16_t dipoleTorqueDuration, int32_t rw1Speed, int32_t rw2Speed,
                                  int32_t rw3Speed, int32_t rw4Speed, uint16_t rampTime);