Possible reasons for the automatic transmission jerking when engaging reverse gear:
Mechanical faults:
* Worn or broken reverse clutches
* Torque converter slippage
* Faulty reverse solenoid
* Damage to the planetary gearbox
Hydraulic faults:
*Low system pressure or hydraulic fluid leak
* Faulty oil pump or pressure relief valve
Electrical faults:
* Errors in the transmission control module (TCM)
* Faulty speed or gear position sensor
Other reasons:
* Worn or dirty spark plugs or ignition coils (for internal combustion engines)
* Transmission oil that is too thick or old
*Transmission overheating
* Electrical wiring problems