Bryan Sproles

Hi all, since I started out in JuJutsu rather than Aikido, I learned the initial control techniques as:

Ikkajo, Nikajo, Sankajo, etc.

In Aikido, I know them as:

Ikkyo, Nikyo, Sankyo, etc.

Although I do have one of Shioda sensei's books, and I notice that he too uses the -kajo version.

Is there a major difference between these words in Japanese?

Thanks,

-Bryan