diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java
index dcdfb06ab4..985b32c3b8 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java
@@ -97,6 +97,15 @@ public class Translation2d implements Interpolatable<Translation2d> {
     return Math.hypot(m_x, m_y);
   }
 
+  /**
+   * Returns the angle this translation forms with the positive X axis.
+   *
+   * @return The angle of the translation
+   */
+  public Rotation2d getAngle() {
+    return new Rotation2d(m_x, m_y);
+  }
+
   /**
    * Applies a rotation to the translation in 2D space.
    *
diff --git a/wpimath/src/main/native/cpp/geometry/Translation2d.cpp b/wpimath/src/main/native/cpp/geometry/Translation2d.cpp
index 5a30ec2b81..37b8822725 100644
--- a/wpimath/src/main/native/cpp/geometry/Translation2d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Translation2d.cpp
@@ -24,6 +24,10 @@ units::meter_t Translation2d::Norm() const {
   return units::math::hypot(m_x, m_y);
 }
 
+Rotation2d Translation2d::Angle() const {
+  return Rotation2d{m_x.value(), m_y.value()};
+}
+
 Translation2d Translation2d::RotateBy(const Rotation2d& other) const {
   return {m_x * other.Cos() - m_y * other.Sin(),
           m_x * other.Sin() + m_y * other.Cos()};
diff --git a/wpimath/src/main/native/include/frc/geometry/Translation2d.h b/wpimath/src/main/native/include/frc/geometry/Translation2d.h
index 67180ddef0..7ee99aa264 100644
--- a/wpimath/src/main/native/include/frc/geometry/Translation2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Translation2d.h
@@ -80,6 +80,13 @@ class WPILIB_DLLEXPORT Translation2d {
    */
   units::meter_t Norm() const;
 
+  /**
+   * Returns the angle this translation forms with the positive X axis.
+   *
+   * @return The angle of the translation
+   */
+  Rotation2d Angle() const;
+
   /**
    * Applies a rotation to the translation in 2D space.
    *