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Hmmm, sounds like a natural reation to me--jumping off when they seem unsteady. I think what helped my dd is that she was a flyer for cheerleading before she started gymnastics so she was ALWAYS doing drills to keep her body TIGHT and to PULL UP or STAND TALL. This training translated very well to beam skills because she knows how to keep her center of gravity in one spot--in this case over the beam.
Having a strong core, or stomach muscles, helps gymnasts and cheerleaders keep their balance. She will also need to keep her hips and shoulders over the beam as well. Your dd is only 5 so she will learn as she practices more and learns how to control her body.
What helped my dd (when she was a flyer for cheer) is I had her stand on a turned over paint bucket and practice balancing on one leg and pulling her cheer postitions. I was always holding her standing leg near the ankle for added support when she pulled stunts to mimick the bases holding her.
Gymnastics is a bit different but the idea is the same. She will just need to practice staying tight (squeezing her butt) and balancing. When she feels off balance, instead of jumping off the beam, have her try to regain her center by shifting her hips and shoulders back over the beam. This may be difficult to explain to a 5 year old, so just be patient and I'm sure she will learn to balance better in her own time.
Practicing on a low beam helps too, because you don't have that added fear of height, but you can still practice body control and balance. I hope all this helps!
Good luck!!
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Chalkbucket Challenge Champion 2008
K 
"Everyone gets scared, and everyone falls. The key is to get right back up and try again." ~ Shannon Miller
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