Jetta hesitating on takeoff
 

I have a 2002 Jetta TDI. When I try to accelerate from a dead stop, there is some hesitation with the car. The rpm's will go up just like they should, but the car will hesitate and jerk almost like something is slipping and then catching. It feels like something is slipping in the transmission or clutch because the engine is in sound shape. Has anyone heard of this problem before?