What voltage(s) do the motor and servo use?
I would use a power supply of the highest voltage of those 2. Then use step down (buck) converter(s) to drop that voltage to 5V to connect to all the Arduino 5V pins.
Avoid using the power jack and Vin. Those inputs go to the onboard 5V regulator. That regulator is weak and can supply limited current before it gets hot and shuts down.