This answer is somewhat speculative and relies upon a generous interpretation of what "minimizes accelerations" means.
I obtained a three-view drawing of the Voyager - sadly, I don't remember where, so the provenance is poor - but here is the data block.
I've cropped and annotated a portion of the drawing dealing with the pitch thrusters.
Somewhat unusually the pitch thrusters are not mounted perpendicular to the axis they are designed to produce rotation about. Instead they are tilted approximately 45 degrees. Voyager's yaw and roll thrusters do not exhibit this tilt.
Since all the documents I've found state that in Voyager's attitude control system, a single jet fires to induce a rotation, an unwanted translation necessarily also occurs. By tilting the pitch jets 45 degrees, the amount of translational acceleration along the antenna line of sight (LOS) is reduced by ~30%.
The red line I added to the drawing represents a hypothetical thrust vector from a pitch jet. The green line is its component in the direction of the antenna LOS. The purple line is the same thrust vector directed along the LOS and serves to show the ~30% increase in thrust along the LOS compared to that produced by the tilted jet.
Is 30% a significant minimization? A skeptic might point out that the tilt also allows the jets labeled "-P1" and "-P2" to minimize their impingement on the back of the antenna. But a good design feature can serve more than one function.