Does jumping into water with the intention of performing ablution (wudu') result in valid ablution?

Total immersion in a large quantity of water with the intention of performing ablution (wudu') is sufficient according to many scholars. They base this on the Prophet's (peace be upon him) saying to Abu Dharr: "If you find water, then let it touch your skin." The Malikis hold that immersion is sufficient for both major ablution (ghusl) and minor ablution (wudu'), provided that the limbs are rubbed.