RigidbodyExtrapolator.cs

using UnityEngine;

public class RigidbodyExtrapolator : MonoBehaviour
{
	public new Rigidbody rigidbody;

	void FixedUpdate()
	{
		transform.Translate(-rigidbody.velocity * Time.fixedDeltaTime, Space.World); // Cancel out the force applied by the rigidbody
	}

	void Update()
	{
		transform.Translate(rigidbody.velocity * Time.deltaTime, Space.World); // Apply the rigidbody force
	}
}