Two earthquakes rumbled in New Jersey Tuesday evening, leaving some residents shaken up.

The first quake struck a little after 5 p.m. The United States Geological Survey says this was a 2.3-magnitude earthquake just west of Morris Plains. It was about 5 km deep.

A 1.7-magnitude aftershock hit near Lake Telemark in Rockaway Township a few hours later.

Residents reported hearing loud noises and that their homes shook.

There were no reports of any damage or injuries.