Will this hurt my baby?

TMI post but this is something i am worried about. I know jumping in pregnancy isn't very safe but what about your belly being shaken up a lot during sex?? My husband and I normally do missionary now since I've been pregnant and can't really do much else other than doggy but of course when we do missionary he doesn't lay on my stomach but my stomach does bounce sometimes kind hard when we are doing it so will that hurt my baby?? If so I'll make sure we go slower. Also I am 21 weeks pregnant