diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Rotation2d.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Rotation2d.java
index c408de859c..c4c83a811c 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Rotation2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Rotation2d.java
@@ -112,8 +112,13 @@ public class Rotation2d {
   /**
    * Adds the new rotation to the current rotation using a rotation matrix.
    *
-   * <p>The matrix multiplication is as follows: [cos_new] [other.cos, -other.sin][cos] [sin_new] =
-   * [other.sin, other.cos][sin] value_new = atan2(cos_new, sin_new)
+   * <p>The matrix multiplication is as follows:
+   *
+   * <pre>
+   * [cos_new]   [other.cos, -other.sin][cos]
+   * [sin_new] = [other.sin,  other.cos][sin]
+   * value_new = atan2(sin_new, cos_new)
+   * </pre>
    *
    * @param other The rotation to rotate by.
    * @return The new rotated Rotation2d.
diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
index 4a69124b21..1748e60d9a 100644
--- a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
@@ -131,10 +131,11 @@ class Rotation2d {
   /**
    * Adds the new rotation to the current rotation using a rotation matrix.
    *
+   * <pre>
    * [cos_new]   [other.cos, -other.sin][cos]
    * [sin_new] = [other.sin,  other.cos][sin]
-   *
-   * value_new = std::atan2(cos_new, sin_new)
+   * value_new = std::atan2(sin_new, cos_new)
+   * </pre>
    *
    * @param other The rotation to rotate by.
    *