diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
index 0f9e27ede1..380f8cb593 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveBot/cpp/SwerveModule.cpp
@@ -48,9 +48,17 @@ frc::SwerveModulePosition SwerveModule::GetPosition() const {
 
 void SwerveModule::SetDesiredState(
     const frc::SwerveModuleState& referenceState) {
+  frc::Rotation2d encoderRotation{
+      units::radian_t{m_turningEncoder.GetDistance()}};
+
   // Optimize the reference state to avoid spinning further than 90 degrees
-  const auto state = frc::SwerveModuleState::Optimize(
-      referenceState, units::radian_t{m_turningEncoder.GetDistance()});
+  auto state =
+      frc::SwerveModuleState::Optimize(referenceState, encoderRotation);
+
+  // Scale speed by cosine of angle error. This scales down movement
+  // perpendicular to the desired direction of travel that can occur when
+  // modules change directions. This results in smoother driving.
+  state.speed *= (state.angle - encoderRotation).Cos();
 
   // Calculate the drive output from the drive PID controller.
   const auto driveOutput = m_drivePIDController.Calculate(
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/SwerveModule.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/SwerveModule.cpp
index d4ee6ae6a9..dc1cdb0bc4 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/SwerveModule.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/SwerveModule.cpp
@@ -55,9 +55,17 @@ frc::SwerveModulePosition SwerveModule::GetPosition() {
 
 void SwerveModule::SetDesiredState(
     const frc::SwerveModuleState& referenceState) {
+  frc::Rotation2d encoderRotation{
+      units::radian_t{m_turningEncoder.GetDistance()}};
+
   // Optimize the reference state to avoid spinning further than 90 degrees
-  const auto state = frc::SwerveModuleState::Optimize(
-      referenceState, units::radian_t{m_turningEncoder.GetDistance()});
+  auto state =
+      frc::SwerveModuleState::Optimize(referenceState, encoderRotation);
+
+  // Scale speed by cosine of angle error. This scales down movement
+  // perpendicular to the desired direction of travel that can occur when
+  // modules change directions. This results in smoother driving.
+  state.speed *= (state.angle - encoderRotation).Cos();
 
   // Calculate the drive output from the drive PID controller.
   const auto driveOutput = m_drivePIDController.Calculate(
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
index c5a0839650..2afaf55844 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
@@ -48,9 +48,17 @@ frc::SwerveModulePosition SwerveModule::GetPosition() const {
 
 void SwerveModule::SetDesiredState(
     const frc::SwerveModuleState& referenceState) {
+  frc::Rotation2d encoderRotation{
+      units::radian_t{m_turningEncoder.GetDistance()}};
+
   // Optimize the reference state to avoid spinning further than 90 degrees
-  const auto state = frc::SwerveModuleState::Optimize(
-      referenceState, units::radian_t{m_turningEncoder.GetDistance()});
+  auto state =
+      frc::SwerveModuleState::Optimize(referenceState, encoderRotation);
+
+  // Scale speed by cosine of angle error. This scales down movement
+  // perpendicular to the desired direction of travel that can occur when
+  // modules change directions. This results in smoother driving.
+  state.speed *= (state.angle - encoderRotation).Cos();
 
   // Calculate the drive output from the drive PID controller.
   const auto driveOutput = m_drivePIDController.Calculate(
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
index 27ea37f46d..65089f973d 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/SwerveModule.java
@@ -109,9 +109,15 @@ public class SwerveModule {
    * @param desiredState Desired state with speed and angle.
    */
   public void setDesiredState(SwerveModuleState desiredState) {
+    var encoderRotation = new Rotation2d(m_turningEncoder.getDistance());
+
     // Optimize the reference state to avoid spinning further than 90 degrees
-    SwerveModuleState state =
-        SwerveModuleState.optimize(desiredState, new Rotation2d(m_turningEncoder.getDistance()));
+    SwerveModuleState state = SwerveModuleState.optimize(desiredState, encoderRotation);
+
+    // Scale speed by cosine of angle error. This scales down movement perpendicular to the desired
+    // direction of travel that can occur when modules change directions. This results in smoother
+    // driving.
+    state.speedMetersPerSecond *= state.angle.minus(encoderRotation).getCos();
 
     // Calculate the drive output from the drive PID controller.
     final double driveOutput =
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
index 46825b2deb..27e800c649 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/SwerveModule.java
@@ -105,9 +105,15 @@ public class SwerveModule {
    * @param desiredState Desired state with speed and angle.
    */
   public void setDesiredState(SwerveModuleState desiredState) {
+    var encoderRotation = new Rotation2d(m_turningEncoder.getDistance());
+
     // Optimize the reference state to avoid spinning further than 90 degrees
-    SwerveModuleState state =
-        SwerveModuleState.optimize(desiredState, new Rotation2d(m_turningEncoder.getDistance()));
+    SwerveModuleState state = SwerveModuleState.optimize(desiredState, encoderRotation);
+
+    // Scale speed by cosine of angle error. This scales down movement perpendicular to the desired
+    // direction of travel that can occur when modules change directions. This results in smoother
+    // driving.
+    state.speedMetersPerSecond *= state.angle.minus(encoderRotation).getCos();
 
     // Calculate the drive output from the drive PID controller.
     final double driveOutput =
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java
index afd74893c3..938b6c8f3c 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/SwerveModule.java
@@ -109,9 +109,15 @@ public class SwerveModule {
    * @param desiredState Desired state with speed and angle.
    */
   public void setDesiredState(SwerveModuleState desiredState) {
+    var encoderRotation = new Rotation2d(m_turningEncoder.getDistance());
+
     // Optimize the reference state to avoid spinning further than 90 degrees
-    SwerveModuleState state =
-        SwerveModuleState.optimize(desiredState, new Rotation2d(m_turningEncoder.getDistance()));
+    SwerveModuleState state = SwerveModuleState.optimize(desiredState, encoderRotation);
+
+    // Scale speed by cosine of angle error. This scales down movement perpendicular to the desired
+    // direction of travel that can occur when modules change directions. This results in smoother
+    // driving.
+    state.speedMetersPerSecond *= state.angle.minus(encoderRotation).getCos();
 
     // Calculate the drive output from the drive PID controller.
     final double driveOutput =