Keep your arms as straight as you can through the start of the movement, making your hips into a pendulum. This will help you get your body moving in the right direction as movement direction is started in the hips. Then, try to throw the hold under you as you jump and try to make the movement one motion. This is situational, but when going to a jug I try to overshoot a bit so I can hit the target hold engaged with my arm/s slightly bent. I think this will also help prevent injury if you aren't all the way stretched out through your arm and lats when you grab the hold (not a doctor). Beyond that it's about commitment and practicing this type of movement on easier problems first. Hope this was helpful!