How to remove the physics simulation accumulation?

I’m having trouble with physical hits accumulating and things flying away. This is especially likely to occur when there are multiple hits in succession when the frame rate drops.

I have set up substeps, but it doesn’t seem to have much effect. And i tried measuring the linear velocity and stopping the simulation if it exceeded a threshold, but this only resulted in teleportation-like behavior and was not a fundamental solution. Linear damping also affects normal physics simulations, so i don’t want to set it.

Is there a setting that prevents the acceleration from accumulating beyond a certain level?