diff --git a/wpimath/src/main/native/include/units/angular_jerk.h b/wpimath/src/main/native/include/units/angular_jerk.h
new file mode 100644
index 0000000000..b58bc1643c
--- /dev/null
+++ b/wpimath/src/main/native/include/units/angular_jerk.h
@@ -0,0 +1,34 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include "units/angle.h"
+#include "units/base.h"
+#include "units/time.h"
+
+namespace units {
+/**
+ * @namespace units::angular_jerk
+ * @brief namespace for unit types and containers representing angular
+ *        jerk values
+ * @details The SI unit for angular jerk is
+ *          `radians_per_second_cubed`, and the corresponding `base_unit`
+ *          category is`angular_jerk_unit`.
+ * @anchor angularJerkContainers
+ * @sa See unit_t for more information on unit type containers.
+ */
+UNIT_ADD(angular_jerk, radians_per_second_cubed, radians_per_second_cubed,
+         rad_per_s_cu, unit<std::ratio<1>, units::category::angular_jerk_unit>)
+UNIT_ADD(angular_jerk, degrees_per_second_cubed, degrees_per_second_cubed,
+         deg_per_s_cu,
+         compound_unit<angle::degrees, inverse<cubed<time::seconds>>>)
+UNIT_ADD(angular_jerk, turns_per_second_cubed, turns_per_second_cubed,
+         tr_per_s_cu,
+         compound_unit<angle::turns, inverse<cubed<time::seconds>>>)
+
+UNIT_ADD_CATEGORY_TRAIT(angular_jerk)
+
+using namespace angular_jerk;
+}  // namespace units
diff --git a/wpimath/src/main/native/include/units/base.h b/wpimath/src/main/native/include/units/base.h
index 3c939f3556..34cd59e419 100644
--- a/wpimath/src/main/native/include/units/base.h
+++ b/wpimath/src/main/native/include/units/base.h
@@ -821,6 +821,7 @@ namespace units
 		typedef base_unit<detail::meter_ratio<0>,	std::ratio<0>,	std::ratio<-1>,	std::ratio<1>>																						angular_velocity_unit;			///< Represents an SI derived unit of angular velocity
 		typedef base_unit<detail::meter_ratio<1>,	std::ratio<0>,	std::ratio<-2>>																										acceleration_unit;				///< Represents an SI derived unit of acceleration
 		typedef base_unit<detail::meter_ratio<0>,	std::ratio<0>,	std::ratio<-2>,	std::ratio<1>>																						angular_acceleration_unit;			///< Represents an SI derived unit of angular acceleration
+		typedef base_unit<detail::meter_ratio<0>,	std::ratio<0>,	std::ratio<-3>,	std::ratio<1>>																						angular_jerk_unit;			    ///< Represents an SI derived unit of angular jerk
 		typedef base_unit<detail::meter_ratio<1>,	std::ratio<1>,	std::ratio<-2>>																										force_unit;						///< Represents an SI derived unit of force
 		typedef base_unit<detail::meter_ratio<-1>,	std::ratio<1>,	std::ratio<-2>>																										pressure_unit;					///< Represents an SI derived unit of pressure
 		typedef base_unit<detail::meter_ratio<0>,	std::ratio<0>,	std::ratio<1>,	std::ratio<0>,	std::ratio<1>>																		charge_unit;					///< Represents an SI derived unit of charge
diff --git a/wpimath/src/test/native/cpp/UnitsTest.cpp b/wpimath/src/test/native/cpp/UnitsTest.cpp
index 2584afed76..1464dcdeb5 100644
--- a/wpimath/src/test/native/cpp/UnitsTest.cpp
+++ b/wpimath/src/test/native/cpp/UnitsTest.cpp
@@ -12,6 +12,7 @@
 #include "units/acceleration.h"
 #include "units/angle.h"
 #include "units/angular_acceleration.h"
+#include "units/angular_jerk.h"
 #include "units/angular_velocity.h"
 #include "units/area.h"
 #include "units/capacitance.h"
@@ -52,6 +53,7 @@
 using namespace units::acceleration;
 using namespace units::angle;
 using namespace units::angular_acceleration;
+using namespace units::angular_jerk;
 using namespace units::angular_velocity;
 using namespace units::area;
 using namespace units::capacitance;
@@ -2003,6 +2005,23 @@ TEST_F(UnitConversion, angular_velocity) {
   EXPECT_NEAR(1.537e-16, test, 5.0e-20);
 }
 
+TEST_F(UnitConversion, angular_jerk) {
+  double test;
+  bool same;
+
+  same =
+      std::is_same_v<radians_per_second_cubed,
+                   unit<std::ratio<1>, category::angular_jerk_unit>>;
+  EXPECT_TRUE(same);
+  same = traits::is_convertible_unit_v<deg_per_s_cu, radians_per_second_cubed>;
+  EXPECT_TRUE(same);
+
+  test = convert<degrees_per_second_cubed, radians_per_second_cubed>(1.0);
+  EXPECT_NEAR(0.0174533, test, 5.0e-8);
+  test = convert<turns_per_second_cubed, radians_per_second_cubed>(1.0);
+  EXPECT_NEAR(6.283185307, test, 5.0e-6);
+}
+
 TEST_F(UnitConversion, acceleration) {
   double test;