DRV8800: driving 2 different motors, one is overheating and generating an audible humming noise

Hi I am using 2 DRV8800 in my custom PCB, 1 is driving a Moon's ML23HS4P4210 with the only issue being that when it starts moving it is really fast and almost a jerking motion what my test team describes as jumping. But of more concern is the 2nd motor, Moon's MS17HD2P4100. This motor is getting hot to the point that you cannot touch it and furthermore is creating a noticeable humming noise when it actuates Both motors are using the exact same circuit in the PCB. Any help is appreciated. 

Matt