Cylinders with edges

I'm trying to narrow down what's causing this phenomena. When I try to print cylinders 6 mm in diameter there are terrible edges and I'm not sure what's causing them. Has anyone seen this before? My xyz acceleration is 500 mm/s^2 (all belt driven axes) and I have my extruder acceleration set at 500 mm/s^2. Is this an acceleration issue or some other type of issue? Jerk is set at 10 for all axes. Thanks for the help. Here's a pic:

The inward curve at the bottom is most likely from bed heat, drop the bed temp by 20-30 degrees after the first layer.

Bulge towards the top looks like your machine may have dropped a step on the Z-axis.