diff --git a/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp b/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
index 407746c0ae..cbd916d298 100644
--- a/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
@@ -129,7 +129,7 @@ void DifferentialDrivetrainSim::SetPose(const frc::Pose2d& pose) {
 
 Vectord<7> DifferentialDrivetrainSim::Dynamics(const Vectord<7>& x,
                                                const Vectord<2>& u) {
-  // Because G^2 can be factored out of A, we can divide by the old ratio
+  // Because G² can be factored out of A, we can divide by the old ratio
   // squared and multiply by the new ratio squared to get a new drivetrain
   // model.
   Matrixd<4, 2> B;
diff --git a/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h b/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
index 420ff4eea1..c1cc1d7c59 100644
--- a/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
@@ -255,7 +255,7 @@ class DifferentialDrivetrainSim {
   static DifferentialDrivetrainSim CreateKitbotSim(
       frc::DCMotor motor, double gearing, units::meter_t wheelSize,
       const std::array<double, 7>& measurementStdDevs = {}) {
-    // MOI estimation -- note that I = m r^2 for point masses
+    // MOI estimation -- note that I = mr² for point masses
     units::kilogram_square_meter_t batteryMoi = 12.5_lb * 10_in * 10_in;
     units::kilogram_square_meter_t gearboxMoi = (2.8_lb + 2.0_lb) *
                                                 2  // CIM plus toughbox per side
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
index 1be4872b0c..0bdb76f63e 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
@@ -323,7 +323,7 @@ public class DifferentialDrivetrainSim {
     var B = new Matrix<>(Nat.N4(), Nat.N2());
     B.assignBlock(0, 0, m_plant.getB().times(this.m_currentGearing / this.m_originalGearing));
 
-    // Because G^2 can be factored out of A, we can divide by the old ratio squared and multiply
+    // Because G² can be factored out of A, we can divide by the old ratio squared and multiply
     // by the new ratio squared to get a new drivetrain model.
     var A = new Matrix<>(Nat.N4(), Nat.N4());
     A.assignBlock(
@@ -455,7 +455,7 @@ public class DifferentialDrivetrainSim {
       KitbotGearing gearing,
       KitbotWheelSize wheelSize,
       Matrix<N7, N1> measurementStdDevs) {
-    // MOI estimation -- note that I = m r^2 for point masses
+    // MOI estimation -- note that I = mr² for point masses
     var batteryMoi = 12.5 / 2.2 * Math.pow(Units.inchesToMeters(10), 2);
     var gearboxMoi =
         (2.8 /* CIM motor */ * 2 / 2.2 + 2.0 /* Toughbox Mini- ish */)
diff --git a/wpimath/src/main/java/edu/wpi/first/math/spline/CubicHermiteSpline.java b/wpimath/src/main/java/edu/wpi/first/math/spline/CubicHermiteSpline.java
index 9bbeaf6032..9471422bd6 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/spline/CubicHermiteSpline.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/spline/CubicHermiteSpline.java
@@ -81,25 +81,25 @@ public class CubicHermiteSpline extends Spline {
   private SimpleMatrix makeHermiteBasis() {
     if (hermiteBasis == null) {
       // Given P(i), P'(i), P(i+1), P'(i+1), the control vectors, we want to find
-      // the coefficients of the spline P(t) = a3 * t^3 + a2 * t^2 + a1 * t + a0.
+      // the coefficients of the spline P(t) = a₃t³ + a₂t² + a₁t + a₀.
       //
-      // P(i)    = P(0)  = a0
-      // P'(i)   = P'(0) = a1
-      // P(i+1)  = P(1)  = a3 + a2 + a1 + a0
-      // P'(i+1) = P'(1) = 3 * a3 + 2 * a2 + a1
+      // P(i)    = P(0)  = a₀
+      // P'(i)   = P'(0) = a₁
+      // P(i+1)  = P(1)  = a₃ + a₂ + a₁ + a₀
+      // P'(i+1) = P'(1) = 3a₃ + 2a₂ + a₁
       //
-      // [ P(i)    ] = [ 0 0 0 1 ][ a3 ]
-      // [ P'(i)   ] = [ 0 0 1 0 ][ a2 ]
-      // [ P(i+1)  ] = [ 1 1 1 1 ][ a1 ]
-      // [ P'(i+1) ] = [ 3 2 1 0 ][ a0 ]
+      // [P(i)   ] = [0 0 0 1][a₃]
+      // [P'(i)  ] = [0 0 1 0][a₂]
+      // [P(i+1) ] = [1 1 1 1][a₁]
+      // [P'(i+1)] = [3 2 1 0][a₀]
       //
       // To solve for the coefficients, we can invert the 4x4 matrix and move it
       // to the other side of the equation.
       //
-      // [ a3 ] = [  2  1 -2  1 ][ P(i)    ]
-      // [ a2 ] = [ -3 -2  3 -1 ][ P'(i)   ]
-      // [ a1 ] = [  0  1  0  0 ][ P(i+1)  ]
-      // [ a0 ] = [  1  0  0  0 ][ P'(i+1) ]
+      // [a₃] = [ 2  1 -2  1][P(i)   ]
+      // [a₂] = [-3 -2  3 -1][P'(i)  ]
+      // [a₁] = [ 0  1  0  0][P(i+1) ]
+      // [a₀] = [ 1  0  0  0][P'(i+1)]
       hermiteBasis =
           new SimpleMatrix(
               4,
diff --git a/wpimath/src/main/java/edu/wpi/first/math/spline/QuinticHermiteSpline.java b/wpimath/src/main/java/edu/wpi/first/math/spline/QuinticHermiteSpline.java
index 40170443f6..7dbdef4eea 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/spline/QuinticHermiteSpline.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/spline/QuinticHermiteSpline.java
@@ -80,33 +80,33 @@ public class QuinticHermiteSpline extends Spline {
    */
   private SimpleMatrix makeHermiteBasis() {
     if (hermiteBasis == null) {
-      // Given P(i), P'(i), P''(i), P(i+1), P'(i+1), P''(i+1), the control
-      // vectors, we want to find the coefficients of the spline
-      // P(t) = a5 * t^5 + a4 * t^4 + a3 * t^3 + a2 * t^2 + a1 * t + a0.
+      // Given P(i), P'(i), P"(i), P(i+1), P'(i+1), P"(i+1), the control vectors,
+      // we want to find the coefficients of the spline
+      // P(t) = a₅t⁵ + a₄t⁴ + a₃t³ + a₂t² + a₁t + a₀.
       //
-      // P(i)     = P(0)   = a0
-      // P'(i)    = P'(0)  = a1
-      // P''(i)   = P''(0) = 2 * a2
-      // P(i+1)   = P(1)   = a5 + a4 + a3 + a2 + a1 + a0
-      // P'(i+1)  = P'(1)  = 5 * a5 + 4 * a4 + 3 * a3 + 2 * a2 + a1
-      // P''(i+1) = P''(1) = 20 * a5 + 12 * a4 + 6 * a3 + 2 * a2
+      // P(i)    = P(0)  = a₀
+      // P'(i)   = P'(0) = a₁
+      // P''(i)  = P"(0) = 2a₂
+      // P(i+1)  = P(1)  = a₅ + a₄ + a₃ + a₂ + a₁ + a₀
+      // P'(i+1) = P'(1) = 5a₅ + 4a₄ + 3a₃ + 2a₂ + a₁
+      // P"(i+1) = P"(1) = 20a₅ + 12a₄ + 6a₃ + 2a₂
       //
-      // [ P(i)     ] = [  0  0  0  0  0  1 ][ a5 ]
-      // [ P'(i)    ] = [  0  0  0  0  1  0 ][ a4 ]
-      // [ P''(i)   ] = [  0  0  0  2  0  0 ][ a3 ]
-      // [ P(i+1)   ] = [  1  1  1  1  1  1 ][ a2 ]
-      // [ P'(i+1)  ] = [  5  4  3  2  1  0 ][ a1 ]
-      // [ P''(i+1) ] = [ 20 12  6  2  0  0 ][ a0 ]
+      // [P(i)   ] = [ 0  0  0  0  0  1][a₅]
+      // [P'(i)  ] = [ 0  0  0  0  1  0][a₄]
+      // [P"(i)  ] = [ 0  0  0  2  0  0][a₃]
+      // [P(i+1) ] = [ 1  1  1  1  1  1][a₂]
+      // [P'(i+1)] = [ 5  4  3  2  1  0][a₁]
+      // [P"(i+1)] = [20 12  6  2  0  0][a₀]
       //
       // To solve for the coefficients, we can invert the 6x6 matrix and move it
       // to the other side of the equation.
       //
-      // [ a5 ] = [  -6.0  -3.0  -0.5   6.0  -3.0   0.5 ][ P(i)     ]
-      // [ a4 ] = [  15.0   8.0   1.5 -15.0   7.0  -1.0 ][ P'(i)    ]
-      // [ a3 ] = [ -10.0  -6.0  -1.5  10.0  -4.0   0.5 ][ P''(i)   ]
-      // [ a2 ] = [   0.0   0.0   0.5   0.0   0.0   0.0 ][ P(i+1)   ]
-      // [ a1 ] = [   0.0   1.0   0.0   0.0   0.0   0.0 ][ P'(i+1)  ]
-      // [ a0 ] = [   1.0   0.0   0.0   0.0   0.0   0.0 ][ P''(i+1) ]
+      // [a₅] = [ -6.0  -3.0  -0.5   6.0  -3.0   0.5][P(i)   ]
+      // [a₄] = [ 15.0   8.0   1.5 -15.0   7.0  -1.0][P'(i)  ]
+      // [a₃] = [-10.0  -6.0  -1.5  10.0  -4.0   0.5][P"(i)  ]
+      // [a₂] = [  0.0   0.0   0.5   0.0   0.0   0.0][P(i+1) ]
+      // [a₁] = [  0.0   1.0   0.0   0.0   0.0   0.0][P'(i+1)]
+      // [a₀] = [  1.0   0.0   0.0   0.0   0.0   0.0][P"(i+1)]
       hermiteBasis =
           new SimpleMatrix(
               6,
diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
index 1a05eb6104..75390c21ae 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
@@ -211,7 +211,7 @@ public final class LinearSystemId {
   }
 
   /**
-   * Identify a velocity system from it's kV (volts/(unit/sec)) and kA (volts/(unit/sec^2). These
+   * Identify a velocity system from it's kV (volts/(unit/sec)) and kA (volts/(unit/sec²). These
    * constants cam be found using SysId. The states of the system are [velocity], inputs are
    * [voltage], and outputs are [velocity].
    *
@@ -241,7 +241,7 @@ public final class LinearSystemId {
   }
 
   /**
-   * Identify a position system from it's kV (volts/(unit/sec)) and kA (volts/(unit/sec^2). These
+   * Identify a position system from it's kV (volts/(unit/sec)) and kA (volts/(unit/sec²). These
    * constants cam be found using SysId. The states of the system are [position, velocity]ᵀ, inputs
    * are [voltage], and outputs are [position].
    *
@@ -272,8 +272,8 @@ public final class LinearSystemId {
 
   /**
    * Identify a standard differential drive drivetrain, given the drivetrain's kV and kA in both
-   * linear (volts/(meter/sec) and volts/(meter/sec^2)) and angular (volts/(meter/sec) and
-   * volts/(meter/sec^2)) cases. This can be found using SysId. The states of the system are [left
+   * linear (volts/(meter/sec) and volts/(meter/sec²)) and angular (volts/(meter/sec) and
+   * volts/(meter/sec²)) cases. This can be found using SysId. The states of the system are [left
    * velocity, right velocity]ᵀ, inputs are [left voltage, right voltage]ᵀ, and outputs are [left
    * velocity, right velocity]ᵀ.
    *
@@ -316,8 +316,8 @@ public final class LinearSystemId {
 
   /**
    * Identify a standard differential drive drivetrain, given the drivetrain's kV and kA in both
-   * linear (volts/(meter/sec) and volts/(meter/sec^2)) and angular (volts/(radian/sec) and
-   * volts/(radian/sec^2)) cases. This can be found using SysId. The states of the system are [left
+   * linear (volts/(meter/sec) and volts/(meter/sec²)) and angular (volts/(radian/sec) and
+   * volts/(radian/sec²)) cases. This can be found using SysId. The states of the system are [left
    * velocity, right velocity]ᵀ, inputs are [left voltage, right voltage]ᵀ, and outputs are [left
    * velocity, right velocity]ᵀ.
    *
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java
index 2ec42441c2..d74b9f72af 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java
@@ -332,7 +332,7 @@ public class Trajectory {
       final double newV = velocityMetersPerSecond + (accelerationMetersPerSecondSq * deltaT);
 
       // Calculate the change in position.
-      // delta_s = v_0 t + 0.5 at^2
+      // delta_s = v_0 t + 0.5at²
       final double newS =
           (velocityMetersPerSecond * deltaT
                   + 0.5 * accelerationMetersPerSecondSq * Math.pow(deltaT, 2))
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java
index d7fbf599d8..28c4153211 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java
@@ -90,7 +90,7 @@ public final class TrajectoryParameterizer {
       // acceleration, since acceleration limits may be a function of velocity.
       while (true) {
         // Enforce global max velocity and max reachable velocity by global
-        // acceleration limit. vf = std::sqrt(vi^2 + 2*a*d).
+        // acceleration limit. v_f = √(v_i² + 2ad).
         constrainedState.maxVelocityMetersPerSecond =
             Math.min(
                 maxVelocityMetersPerSecond,
@@ -164,7 +164,7 @@ public final class TrajectoryParameterizer {
 
       while (true) {
         // Enforce max velocity limit (reverse)
-        // vf = std::sqrt(vi^2 + 2*a*d), where vi = successor.
+        // v_f = √(v_i² + 2ad), where v_i = successor.
         double newMaxVelocity =
             Math.sqrt(
                 successor.maxVelocityMetersPerSecond * successor.maxVelocityMetersPerSecond
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/CentripetalAccelerationConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/CentripetalAccelerationConstraint.java
index 13138e84ce..7a47fcac4c 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/CentripetalAccelerationConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/CentripetalAccelerationConstraint.java
@@ -38,12 +38,12 @@ public class CentripetalAccelerationConstraint implements TrajectoryConstraint {
   @Override
   public double getMaxVelocityMetersPerSecond(
       Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
-    // ac = v^2 / r
-    // k (curvature) = 1 / r
+    // ac = v²/r
+    // k (curvature) = 1/r
 
-    // therefore, ac = v^2 * k
-    // ac / k = v^2
-    // v = std::sqrt(ac / k)
+    // therefore, ac = v²k
+    // ac/k = v²
+    // v = √(ac/k)
 
     return Math.sqrt(
         m_maxCentripetalAccelerationMetersPerSecondSq / Math.abs(curvatureRadPerMeter));
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/EllipticalRegionConstraint.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/EllipticalRegionConstraint.java
index c3bd226c2f..856671ea40 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/EllipticalRegionConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/EllipticalRegionConstraint.java
@@ -65,11 +65,16 @@ public class EllipticalRegionConstraint implements TrajectoryConstraint {
    * @return Whether the robot pose is within the constraint region.
    */
   public boolean isPoseInRegion(Pose2d robotPose) {
-    // The region (disk) bounded by the ellipse is given by the equation:
-    // ((x-h)^2)/Rx^2) + ((y-k)^2)/Ry^2) <= 1
+    // The region bounded by the ellipse is given by the equation:
+    //
+    // (x−h)²/Rx² + (y−k)²/Ry² ≤ 1
+    //
+    // Multiply by Rx²Ry² for efficiency reasons:
+    //
+    // (x−h)²Ry² + (y−k)²Rx² ≤ Rx²Ry²
+    //
     // If the inequality is satisfied, then it is inside the ellipse; otherwise
     // it is outside the ellipse.
-    // Both sides have been multiplied by Rx^2 * Ry^2 for efficiency reasons.
     return Math.pow(robotPose.getX() - m_center.getX(), 2) * Math.pow(m_radii.getY(), 2)
             + Math.pow(robotPose.getY() - m_center.getY(), 2) * Math.pow(m_radii.getX(), 2)
         <= Math.pow(m_radii.getX(), 2) * Math.pow(m_radii.getY(), 2);
diff --git a/wpimath/src/main/native/cpp/trajectory/Trajectory.cpp b/wpimath/src/main/native/cpp/trajectory/Trajectory.cpp
index ecb36c2b80..097edce726 100644
--- a/wpimath/src/main/native/cpp/trajectory/Trajectory.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/Trajectory.cpp
@@ -46,7 +46,7 @@ Trajectory::State Trajectory::State::Interpolate(State endValue,
   const units::meters_per_second_t newV = velocity + (acceleration * deltaT);
 
   // Calculate the change in position.
-  // delta_s = v_0 t + 0.5 at^2
+  // delta_s = v_0 t + 0.5at²
   const units::meter_t newS =
       (velocity * deltaT + 0.5 * acceleration * deltaT * deltaT) *
       (reversing ? -1.0 : 1.0);
diff --git a/wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp b/wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
index d397d0ce64..92d52ed2ce 100644
--- a/wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
@@ -62,7 +62,7 @@ Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
     // acceleration, since acceleration limits may be a function of velocity.
     while (true) {
       // Enforce global max velocity and max reachable velocity by global
-      // acceleration limit. vf = std::sqrt(vi^2 + 2*a*d).
+      // acceleration limit. v_f = √(v_i² + 2ad).
 
       constrainedState.maxVelocity = units::math::min(
           maxVelocity,
@@ -126,7 +126,7 @@ Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
 
     while (true) {
       // Enforce max velocity limit (reverse)
-      // vf = std::sqrt(vi^2 + 2*a*d), where vi = successor.
+      // v_f = √(v_i² + 2ad), where v_i = successor.
       units::meters_per_second_t newMaxVelocity =
           units::math::sqrt(successor.maxVelocity * successor.maxVelocity +
                             successor.minAcceleration * ds * 2.0);
@@ -187,10 +187,10 @@ Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
     if (i > 0) {
       states.at(i - 1).acceleration = reversed ? -accel : accel;
       if (units::math::abs(accel) > 1E-6_mps_sq) {
-        // v_f = v_0 + a * t
+        // v_f = v_0 + at
         dt = (state.maxVelocity - v) / accel;
       } else if (units::math::abs(v) > 1E-6_mps) {
-        // delta_x = v * t
+        // delta_x = vt
         dt = ds / v;
       } else {
         throw std::runtime_error(fmt::format(
diff --git a/wpimath/src/main/native/cpp/trajectory/constraint/CentripetalAccelerationConstraint.cpp b/wpimath/src/main/native/cpp/trajectory/constraint/CentripetalAccelerationConstraint.cpp
index 738d2439b0..40913a806b 100644
--- a/wpimath/src/main/native/cpp/trajectory/constraint/CentripetalAccelerationConstraint.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/constraint/CentripetalAccelerationConstraint.cpp
@@ -15,12 +15,12 @@ CentripetalAccelerationConstraint::CentripetalAccelerationConstraint(
 units::meters_per_second_t CentripetalAccelerationConstraint::MaxVelocity(
     const Pose2d& pose, units::curvature_t curvature,
     units::meters_per_second_t velocity) const {
-  // ac = v^2 / r
-  // k (curvature) = 1 / r
+  // ac = v²/r
+  // k (curvature) = 1/r
 
-  // therefore, ac = v^2 * k
-  // ac / k = v^2
-  // v = std::sqrt(ac / k)
+  // therefore, ac = v²k
+  // ac/k = v²
+  // v = √(ac/k)
 
   // We have to multiply by 1_rad here to get the units to cancel out nicely.
   // The units library defines a unit for radians although it is technically
diff --git a/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h b/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
index 1f0e4077a3..2741668132 100644
--- a/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
@@ -37,7 +37,7 @@ class WPILIB_DLLEXPORT ArmFeedforward {
    * @param kS   The static gain, in volts.
    * @param kG The gravity gain, in volts.
    * @param kV   The velocity gain, in volt seconds per radian.
-   * @param kA   The acceleration gain, in volt seconds^2 per radian.
+   * @param kA   The acceleration gain, in volt seconds² per radian.
    */
   constexpr ArmFeedforward(
       units::volt_t kS, units::volt_t kG, units::unit_t<kv_unit> kV,
@@ -49,7 +49,7 @@ class WPILIB_DLLEXPORT ArmFeedforward {
    *
    * @param angle        The angle setpoint, in radians.
    * @param velocity     The velocity setpoint, in radians per second.
-   * @param acceleration The acceleration setpoint, in radians per second^2.
+   * @param acceleration The acceleration setpoint, in radians per second².
    * @return The computed feedforward, in volts.
    */
   units::volt_t Calculate(units::unit_t<Angle> angle,
diff --git a/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h b/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
index 269a7e635a..e07c26b21a 100644
--- a/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
@@ -33,7 +33,7 @@ class ElevatorFeedforward {
    * @param kS The static gain, in volts.
    * @param kG The gravity gain, in volts.
    * @param kV The velocity gain, in volt seconds per distance.
-   * @param kA The acceleration gain, in volt seconds^2 per distance.
+   * @param kA The acceleration gain, in volt seconds² per distance.
    */
   constexpr ElevatorFeedforward(
       units::volt_t kS, units::volt_t kG, units::unit_t<kv_unit> kV,
@@ -44,7 +44,7 @@ class ElevatorFeedforward {
    * Calculates the feedforward from the gains and setpoints.
    *
    * @param velocity     The velocity setpoint, in distance per second.
-   * @param acceleration The acceleration setpoint, in distance per second^2.
+   * @param acceleration The acceleration setpoint, in distance per second².
    * @return The computed feedforward, in volts.
    */
   constexpr units::volt_t Calculate(units::unit_t<Velocity> velocity,
diff --git a/wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h b/wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
index 27852f7499..86b40eab06 100644
--- a/wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
@@ -35,7 +35,7 @@ class SimpleMotorFeedforward {
    *
    * @param kS The static gain, in volts.
    * @param kV The velocity gain, in volt seconds per distance.
-   * @param kA The acceleration gain, in volt seconds^2 per distance.
+   * @param kA The acceleration gain, in volt seconds² per distance.
    */
   constexpr SimpleMotorFeedforward(
       units::volt_t kS, units::unit_t<kv_unit> kV,
@@ -46,7 +46,7 @@ class SimpleMotorFeedforward {
    * Calculates the feedforward from the gains and setpoints.
    *
    * @param velocity     The velocity setpoint, in distance per second.
-   * @param acceleration The acceleration setpoint, in distance per second^2.
+   * @param acceleration The acceleration setpoint, in distance per second².
    * @return The computed feedforward, in volts.
    */
   constexpr units::volt_t Calculate(units::unit_t<Velocity> velocity,
diff --git a/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h b/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
index 771f7ab1fe..0636707958 100644
--- a/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
+++ b/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
@@ -51,25 +51,25 @@ class WPILIB_DLLEXPORT CubicHermiteSpline : public Spline<3> {
    */
   static Matrixd<4, 4> MakeHermiteBasis() {
     // Given P(i), P'(i), P(i+1), P'(i+1), the control vectors, we want to find
-    // the coefficients of the spline P(t) = a3 * t^3 + a2 * t^2 + a1 * t + a0.
+    // the coefficients of the spline P(t) = a₃t³ + a₂t² + a₁t + a₀.
     //
-    // P(i)    = P(0)  = a0
-    // P'(i)   = P'(0) = a1
-    // P(i+1)  = P(1)  = a3 + a2 + a1 + a0
-    // P'(i+1) = P'(1) = 3 * a3 + 2 * a2 + a1
+    // P(i)    = P(0)  = a₀
+    // P'(i)   = P'(0) = a₁
+    // P(i+1)  = P(1)  = a₃ + a₂ + a₁ + a₀
+    // P'(i+1) = P'(1) = 3a₃ + 2a₂ + a₁
     //
-    // [ P(i)    ] = [ 0 0 0 1 ][ a3 ]
-    // [ P'(i)   ] = [ 0 0 1 0 ][ a2 ]
-    // [ P(i+1)  ] = [ 1 1 1 1 ][ a1 ]
-    // [ P'(i+1) ] = [ 3 2 1 0 ][ a0 ]
+    // [P(i)   ] = [0 0 0 1][a₃]
+    // [P'(i)  ] = [0 0 1 0][a₂]
+    // [P(i+1) ] = [1 1 1 1][a₁]
+    // [P'(i+1)] = [3 2 1 0][a₀]
     //
     // To solve for the coefficients, we can invert the 4x4 matrix and move it
     // to the other side of the equation.
     //
-    // [ a3 ] = [  2  1 -2  1 ][ P(i)    ]
-    // [ a2 ] = [ -3 -2  3 -1 ][ P'(i)   ]
-    // [ a1 ] = [  0  1  0  0 ][ P(i+1)  ]
-    // [ a0 ] = [  1  0  0  0 ][ P'(i+1) ]
+    // [a₃] = [ 2  1 -2  1][P(i)   ]
+    // [a₂] = [-3 -2  3 -1][P'(i)  ]
+    // [a₁] = [ 0  1  0  0][P(i+1) ]
+    // [a₀] = [ 1  0  0  0][P'(i+1)]
 
     static const Matrixd<4, 4> basis{{+2.0, +1.0, -2.0, +1.0},
                                      {-3.0, -2.0, +3.0, -1.0},
diff --git a/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h b/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
index 5743ee9069..ad03a23919 100644
--- a/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
+++ b/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
@@ -50,33 +50,33 @@ class WPILIB_DLLEXPORT QuinticHermiteSpline : public Spline<5> {
    * @return The hermite basis matrix for quintic hermite spline interpolation.
    */
   static Matrixd<6, 6> MakeHermiteBasis() {
-    // Given P(i), P'(i), P''(i), P(i+1), P'(i+1), P''(i+1), the control
-    // vectors, we want to find the coefficients of the spline
-    // P(t) = a5 * t^5 + a4 * t^4 + a3 * t^3 + a2 * t^2 + a1 * t + a0.
+    // Given P(i), P'(i), P"(i), P(i+1), P'(i+1), P"(i+1), the control vectors,
+    // we want to find the coefficients of the spline
+    // P(t) = a₅t⁵ + a₄t⁴ + a₃t³ + a₂t² + a₁t + a₀.
     //
-    // P(i)     = P(0)   = a0
-    // P'(i)    = P'(0)  = a1
-    // P''(i)   = P''(0) = 2 * a2
-    // P(i+1)   = P(1)   = a5 + a4 + a3 + a2 + a1 + a0
-    // P'(i+1)  = P'(1)  = 5 * a5 + 4 * a4 + 3 * a3 + 2 * a2 + a1
-    // P''(i+1) = P''(1) = 20 * a5 + 12 * a4 + 6 * a3 + 2 * a2
+    // P(i)    = P(0)  = a₀
+    // P'(i)   = P'(0) = a₁
+    // P''(i)  = P"(0) = 2a₂
+    // P(i+1)  = P(1)  = a₅ + a₄ + a₃ + a₂ + a₁ + a₀
+    // P'(i+1) = P'(1) = 5a₅ + 4a₄ + 3a₃ + 2a₂ + a₁
+    // P"(i+1) = P"(1) = 20a₅ + 12a₄ + 6a₃ + 2a₂
     //
-    // [ P(i)     ] = [  0  0  0  0  0  1 ][ a5 ]
-    // [ P'(i)    ] = [  0  0  0  0  1  0 ][ a4 ]
-    // [ P''(i)   ] = [  0  0  0  2  0  0 ][ a3 ]
-    // [ P(i+1)   ] = [  1  1  1  1  1  1 ][ a2 ]
-    // [ P'(i+1)  ] = [  5  4  3  2  1  0 ][ a1 ]
-    // [ P''(i+1) ] = [ 20 12  6  2  0  0 ][ a0 ]
+    // [P(i)   ] = [ 0  0  0  0  0  1][a₅]
+    // [P'(i)  ] = [ 0  0  0  0  1  0][a₄]
+    // [P"(i)  ] = [ 0  0  0  2  0  0][a₃]
+    // [P(i+1) ] = [ 1  1  1  1  1  1][a₂]
+    // [P'(i+1)] = [ 5  4  3  2  1  0][a₁]
+    // [P"(i+1)] = [20 12  6  2  0  0][a₀]
     //
     // To solve for the coefficients, we can invert the 6x6 matrix and move it
     // to the other side of the equation.
     //
-    // [ a5 ] = [  -6.0  -3.0  -0.5   6.0  -3.0   0.5 ][ P(i)     ]
-    // [ a4 ] = [  15.0   8.0   1.5 -15.0   7.0  -1.0 ][ P'(i)    ]
-    // [ a3 ] = [ -10.0  -6.0  -1.5  10.0  -4.0   0.5 ][ P''(i)   ]
-    // [ a2 ] = [   0.0   0.0   0.5   0.0   0.0   0.0 ][ P(i+1)   ]
-    // [ a1 ] = [   0.0   1.0   0.0   0.0   0.0   0.0 ][ P'(i+1)  ]
-    // [ a0 ] = [   1.0   0.0   0.0   0.0   0.0   0.0 ][ P''(i+1) ]
+    // [a₅] = [ -6.0  -3.0  -0.5   6.0  -3.0   0.5][P(i)   ]
+    // [a₄] = [ 15.0   8.0   1.5 -15.0   7.0  -1.0][P'(i)  ]
+    // [a₃] = [-10.0  -6.0  -1.5  10.0  -4.0   0.5][P"(i)  ]
+    // [a₂] = [  0.0   0.0   0.5   0.0   0.0   0.0][P(i+1) ]
+    // [a₁] = [  0.0   1.0   0.0   0.0   0.0   0.0][P'(i+1)]
+    // [a₀] = [  1.0   0.0   0.0   0.0   0.0   0.0][P"(i+1)]
 
     static const Matrixd<6, 6> basis{
         {-06.0, -03.0, -00.5, +06.0, -03.0, +00.5},
diff --git a/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h b/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
index 9c9768b570..d2a57b3dce 100644
--- a/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
+++ b/wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
@@ -116,7 +116,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
    * u = K_v v + K_a a
    *
    * @param kV The velocity gain, in volt seconds per distance.
-   * @param kA The acceleration gain, in volt seconds^2 per distance.
+   * @param kA The acceleration gain, in volt seconds² per distance.
    * @throws std::domain_error if kV <= 0 or kA <= 0.
    */
   template <typename Distance, typename = std::enable_if_t<
@@ -158,7 +158,7 @@ class WPILIB_DLLEXPORT LinearSystemId {
    * u = K_v v + K_a a
    *
    * @param kV The velocity gain, in volt seconds per distance.
-   * @param kA The acceleration gain, in volt seconds^2 per distance.
+   * @param kA The acceleration gain, in volt seconds² per distance.
    * @throws std::domain_error if kV <= 0 or kA <= 0.
    */
   template <typename Distance, typename = std::enable_if_t<
diff --git a/wpimath/src/main/native/include/frc/trajectory/constraint/EllipticalRegionConstraint.h b/wpimath/src/main/native/include/frc/trajectory/constraint/EllipticalRegionConstraint.h
index e2ef37bbaf..b951a063f7 100644
--- a/wpimath/src/main/native/include/frc/trajectory/constraint/EllipticalRegionConstraint.h
+++ b/wpimath/src/main/native/include/frc/trajectory/constraint/EllipticalRegionConstraint.h
@@ -66,11 +66,16 @@ class EllipticalRegionConstraint : public TrajectoryConstraint {
    * @return Whether the robot pose is within the constraint region.
    */
   bool IsPoseInRegion(const Pose2d& pose) const {
-    // The region (disk) bounded by the ellipse is given by the equation:
-    // ((x-h)^2)/Rx^2) + ((y-k)^2)/Ry^2) <= 1
+    // The region bounded by the ellipse is given by the equation:
+    //
+    // (x−h)²/Rx² + (y−k)²/Ry² ≤ 1
+    //
+    // Multiply by Rx²Ry² for efficiency reasons:
+    //
+    // (x−h)²Ry² + (y−k)²Rx² ≤ Rx²Ry²
+    //
     // If the inequality is satisfied, then it is inside the ellipse; otherwise
     // it is outside the ellipse.
-    // Both sides have been multiplied by Rx^2 * Ry^2 for efficiency reasons.
     return units::math::pow<2>(pose.X() - m_center.X()) *
                    units::math::pow<2>(m_radii.Y()) +
                units::math::pow<2>(pose.Y() - m_center.Y()) *
diff --git a/wpimath/src/test/java/edu/wpi/first/math/filter/LinearFilterTest.java b/wpimath/src/test/java/edu/wpi/first/math/filter/LinearFilterTest.java
index f0b39c6b91..5e6d5bbb69 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/filter/LinearFilterTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/filter/LinearFilterTest.java
@@ -141,7 +141,7 @@ class LinearFilterTest {
         3,
         // f(x) = ln(x)
         (double x) -> Math.log(x),
-        // df/dx = 1 / x
+        // df/dx = 1/x
         (double x) -> 1.0 / x,
         h,
         1.0,
@@ -174,7 +174,7 @@ class LinearFilterTest {
         5,
         // f(x) = ln(x)
         (double x) -> Math.log(x),
-        // d²f/dx² = -1 / x²
+        // d²f/dx² = -1/x²
         (double x) -> -1.0 / (x * x),
         h,
         1.0,
@@ -213,7 +213,7 @@ class LinearFilterTest {
         2,
         // f(x) = ln(x)
         (double x) -> Math.log(x),
-        // df/dx = 1 / x
+        // df/dx = 1/x
         (double x) -> 1.0 / x,
         h,
         1.0,
@@ -246,7 +246,7 @@ class LinearFilterTest {
         4,
         // f(x) = ln(x)
         (double x) -> Math.log(x),
-        // d²f/dx² = -1 / x²
+        // d²f/dx² = -1/x²
         (double x) -> -1.0 / (x * x),
         h,
         1.0,
diff --git a/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java
index db4b76b474..64abab4652 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java
@@ -102,8 +102,8 @@ class SwerveDriveKinematicsTest {
     var moduleStates = m_kinematics.toSwerveModuleStates(speeds);
 
     /*
-    The circumference of the wheels about the COR is pi * diameter, or 2 * pi * radius
-    the radius is the sqrt(12^2in + 12^2in), or 16.9706in, so the circumference the wheels
+    The circumference of the wheels about the COR is π * diameter, or 2π * radius
+    the radius is the √(12²in + 12²in), or 16.9706in, so the circumference the wheels
     trace out is 106.629190516in. since we want our robot to rotate at 1 rotation per second,
     our wheels must trace out 1 rotation (or 106.63 inches) per second.
       */
@@ -143,7 +143,7 @@ class SwerveDriveKinematicsTest {
     This one is a bit trickier. Because we are rotating about the front-left wheel,
     it should be parked at 0 degrees and 0 speed. The front-right and back-left wheels both travel
     an arc with radius 24 (and circumference 150.796), and the back-right wheel travels an arc with
-    radius sqrt(24^2 + 24^2) and circumference 213.2584. As for angles, the front-right wheel
+    radius √(24² + 24²) and circumference 213.2584. As for angles, the front-right wheel
     should be pointing straight forward, the back-left wheel should be pointing straight right,
     and the back-right wheel should be at a -45 degree angle
     */
@@ -169,12 +169,12 @@ class SwerveDriveKinematicsTest {
     var chassisSpeeds = m_kinematics.toChassisSpeeds(flState, frState, blState, brState);
 
     /*
-    We already know that our omega should be 2pi from the previous test. Next, we need to determine
+    We already know that our omega should be 2π from the previous test. Next, we need to determine
     the vx and vy of our chassis center. Because our COR is at a 45 degree angle from the center,
     we know that vx and vy must be the same. Furthermore, we know that the center of mass makes
     a full revolution about the center of revolution once every second. Therefore, the center of
     mass must be moving at 106.629in/sec. Recalling that the ratios of a 45/45/90 triagle are
-    1:sqrt(2)/2:sqrt(2)/2, we find that the COM vx is -75.398, and vy is 75.398.
+    1:√(2)/2:√(2)/2, we find that the COM vx is -75.398, and vy is 75.398.
     */
 
     assertAll(
diff --git a/wpimath/src/test/java/edu/wpi/first/math/system/RungeKuttaTimeVaryingTest.java b/wpimath/src/test/java/edu/wpi/first/math/system/RungeKuttaTimeVaryingTest.java
index e4df93f975..3db878e8e3 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/system/RungeKuttaTimeVaryingTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/system/RungeKuttaTimeVaryingTest.java
@@ -15,16 +15,16 @@ import org.junit.jupiter.api.Test;
 class RungeKuttaTimeVaryingTest {
   private static Matrix<N1, N1> rungeKuttaTimeVaryingSolution(double t) {
     return new MatBuilder<>(Nat.N1(), Nat.N1())
-        .fill(12.0 * Math.exp(t) / (Math.pow(Math.exp(t) + 1.0, 2.0)));
+        .fill(12.0 * Math.exp(t) / Math.pow(Math.exp(t) + 1.0, 2.0));
   }
 
   // Tests RK4 with a time varying solution. From
   // http://www2.hawaii.edu/~jmcfatri/math407/RungeKuttaTest.html:
-  //   x' = x (2 / (e^t + 1) - 1)
+  //   x' = x (2/(eᵗ + 1) - 1)
   //
   // The true (analytical) solution is:
   //
-  // x(t) = 12 * e^t / ((e^t + 1)^2)
+  // x(t) = 12eᵗ/(eᵗ + 1)²
   @Test
   void rungeKuttaTimeVaryingTest() {
     final var y0 = rungeKuttaTimeVaryingSolution(5.0);
diff --git a/wpimath/src/test/native/cpp/filter/LinearFilterOutputTest.cpp b/wpimath/src/test/native/cpp/filter/LinearFilterOutputTest.cpp
index 56121faf02..4f6c7d16de 100644
--- a/wpimath/src/test/native/cpp/filter/LinearFilterOutputTest.cpp
+++ b/wpimath/src/test/native/cpp/filter/LinearFilterOutputTest.cpp
@@ -207,14 +207,14 @@ TEST(LinearFilterOutputTest, CentralFiniteDifference) {
         return std::log(x);
       },
       [](double x) {
-        // df/dx = 1 / x
+        // df/dx = 1/x
         return 1.0 / x;
       },
       h, 1.0, 20.0);
 
   AssertCentralResults<2, 5>(
       [](double x) {
-        // f(x) = x^2
+        // f(x) = x²
         return x * x;
       },
       [](double x) {
@@ -240,7 +240,7 @@ TEST(LinearFilterOutputTest, CentralFiniteDifference) {
         return std::log(x);
       },
       [](double x) {
-        // d²f/dx² = -1 / x²
+        // d²f/dx² = -1/x²
         return -1.0 / (x * x);
       },
       h, 1.0, 20.0);
@@ -280,14 +280,14 @@ TEST(LinearFilterOutputTest, BackwardFiniteDifference) {
         return std::log(x);
       },
       [](double x) {
-        // df/dx = 1 / x
+        // df/dx = 1/x
         return 1.0 / x;
       },
       h, 1.0, 20.0);
 
   AssertBackwardResults<2, 4>(
       [](double x) {
-        // f(x) = x^2
+        // f(x) = x²
         return x * x;
       },
       [](double x) {
@@ -313,7 +313,7 @@ TEST(LinearFilterOutputTest, BackwardFiniteDifference) {
         return std::log(x);
       },
       [](double x) {
-        // d²f/dx² = -1 / x²
+        // d²f/dx² = -1/x²
         return -1.0 / (x * x);
       },
       h, 1.0, 20.0);
diff --git a/wpimath/src/test/native/cpp/system/RungeKuttaTimeVaryingTest.cpp b/wpimath/src/test/native/cpp/system/RungeKuttaTimeVaryingTest.cpp
index d5311f85ab..70f193892f 100644
--- a/wpimath/src/test/native/cpp/system/RungeKuttaTimeVaryingTest.cpp
+++ b/wpimath/src/test/native/cpp/system/RungeKuttaTimeVaryingTest.cpp
@@ -10,18 +10,17 @@
 
 namespace {
 frc::Vectord<1> RungeKuttaTimeVaryingSolution(double t) {
-  return frc::Vectord<1>{12.0 * std::exp(t) /
-                         (std::pow(std::exp(t) + 1.0, 2.0))};
+  return frc::Vectord<1>{12.0 * std::exp(t) / std::pow(std::exp(t) + 1.0, 2.0)};
 }
 }  // namespace
 
 // Tests RK4 with a time varying solution. From
 // http://www2.hawaii.edu/~jmcfatri/math407/RungeKuttaTest.html:
-//   x' = x (2 / (e^t + 1) - 1)
+//   x' = x (2/(eᵗ + 1) - 1)
 //
 // The true (analytical) solution is:
 //
-// x(t) = 12 * e^t / ((e^t + 1)^2)
+// x(t) = 12eᵗ/((eᵗ + 1)²)
 TEST(RungeKuttaTimeVaryingTest, RungeKuttaTimeVarying) {
   frc::Vectord<1> y0 = RungeKuttaTimeVaryingSolution(5.0);