A pipelined analog to digital converter comprises N stages, wherein N is an integer greater than one. A sample and integrate circuit communicates with at least two stages of the N stages. The sample and integrate circuit selectively samples a first voltage input to one of the at least two stages while integrating a difference between a sampled second voltage input of another one of the at least two stages and a second reference voltage to generate a second residue. The sample and integrate circuit selectively integrates a difference between the sampled first voltage and a first reference voltage to generate a first residue while sampling a second voltage input.