diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java
index 356961aff9..36d570b886 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java
@@ -328,9 +328,9 @@ public class Color {
    */
   public static int lerpRGB(int r1, int g1, int b1, int r2, int g2, int b2, double t) {
     return packRGB(
-        (int) MathUtil.interpolate(r1, r2, t),
-        (int) MathUtil.interpolate(g1, g2, t),
-        (int) MathUtil.interpolate(b1, b2, t));
+        (int) MathUtil.lerp(r1, r2, t),
+        (int) MathUtil.lerp(g1, g2, t),
+        (int) MathUtil.lerp(b1, b2, t));
   }
 
   /*
diff --git a/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java b/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java
index 43b4408fc5..4004ab4d2a 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/MathUtil.java
@@ -13,6 +13,39 @@ public final class MathUtil {
     throw new AssertionError("utility class");
   }
 
+  /**
+   * Computes the linear interpolation between a and b if t ∈ [0, 1) and the linear extrapolation
+   * otherwise.
+   *
+   * @param a The start value.
+   * @param b The end value.
+   * @param t The fraction for interpolation.
+   * @return The interpolated value.
+   */
+  public static double lerp(double a, double b, double t) {
+    return a + (b - a) * t;
+  }
+
+  /**
+   * Returns the interpolant t that reflects where q is with respect to the range (a, b). In other
+   * words, returns t such that q = a + (b - a)t. If a = b, then returns 0.
+   *
+   * @param a Lower part of interpolation range.
+   * @param b Upper part of interpolation range.
+   * @param q Query.
+   * @return Interpolant.
+   */
+  public static double inverseLerp(double a, double b, double q) {
+    // q = a + (b − a)t
+    // (b − a)t = q − a
+    // t = (q − a)/(b − a)
+    if (Math.abs(a - b) < 1e-9) {
+      return 0.0;
+    } else {
+      return (q - a) / (b - a);
+    }
+  }
+
   /**
    * Returns 0.0 if the given value is within the specified range around zero. The remaining range
    * between the deadband and the maximum magnitude is scaled from 0.0 to the maximum magnitude.
@@ -151,38 +184,6 @@ public final class MathUtil {
     return inputModulus(angleRadians, -Math.PI, Math.PI);
   }
 
-  /**
-   * Perform linear interpolation between two values.
-   *
-   * @param startValue The value to start at.
-   * @param endValue The value to end at.
-   * @param t How far between the two values to interpolate. This is clamped to [0, 1].
-   * @return The interpolated value.
-   */
-  public static double interpolate(double startValue, double endValue, double t) {
-    return startValue + (endValue - startValue) * Math.clamp(t, 0, 1);
-  }
-
-  /**
-   * Return where within interpolation range [0, 1] q is between startValue and endValue.
-   *
-   * @param startValue Lower part of interpolation range.
-   * @param endValue Upper part of interpolation range.
-   * @param q Query.
-   * @return Interpolant in range [0, 1].
-   */
-  public static double inverseInterpolate(double startValue, double endValue, double q) {
-    double totalRange = endValue - startValue;
-    if (totalRange <= 0) {
-      return 0.0;
-    }
-    double queryToStart = q - startValue;
-    if (queryToStart <= 0) {
-      return 0.0;
-    }
-    return queryToStart / totalRange;
-  }
-
   /**
    * Checks if the given value matches an expected value within a certain tolerance.
    *
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 10c7c123bd..767c3b81a0 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
@@ -358,8 +358,8 @@ public class Translation2d
   @Override
   public Translation2d interpolate(Translation2d endValue, double t) {
     return new Translation2d(
-        MathUtil.interpolate(this.getX(), endValue.getX(), t),
-        MathUtil.interpolate(this.getY(), endValue.getY(), t));
+        MathUtil.lerp(this.getX(), endValue.getX(), t),
+        MathUtil.lerp(this.getY(), endValue.getY(), t));
   }
 
   /** Translation2d protobuf for serialization. */
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java
index ff7eb01de6..3a4bc5fad2 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java
@@ -393,9 +393,9 @@ public class Translation3d
   @Override
   public Translation3d interpolate(Translation3d endValue, double t) {
     return new Translation3d(
-        MathUtil.interpolate(this.getX(), endValue.getX(), t),
-        MathUtil.interpolate(this.getY(), endValue.getY(), t),
-        MathUtil.interpolate(this.getZ(), endValue.getZ(), t));
+        MathUtil.lerp(this.getX(), endValue.getX(), t),
+        MathUtil.lerp(this.getY(), endValue.getY(), t),
+        MathUtil.lerp(this.getZ(), endValue.getZ(), t));
   }
 
   /** Translation3d protobuf for serialization. */
diff --git a/wpimath/src/main/java/edu/wpi/first/math/interpolation/Interpolator.java b/wpimath/src/main/java/edu/wpi/first/math/interpolation/Interpolator.java
index 5fe1a8f28a..37192cf9ec 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/interpolation/Interpolator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/interpolation/Interpolator.java
@@ -30,6 +30,6 @@ public interface Interpolator<T> {
    * @return Interpolator for Double.
    */
   static Interpolator<Double> forDouble() {
-    return MathUtil::interpolate;
+    return MathUtil::lerp;
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/interpolation/InverseInterpolator.java b/wpimath/src/main/java/edu/wpi/first/math/interpolation/InverseInterpolator.java
index d6d0bc8c5b..92f33e7de9 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/interpolation/InverseInterpolator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/interpolation/InverseInterpolator.java
@@ -30,6 +30,6 @@ public interface InverseInterpolator<T> {
    * @return Inverse interpolator for Double.
    */
   static InverseInterpolator<Double> forDouble() {
-    return MathUtil::inverseInterpolate;
+    return MathUtil::inverseLerp;
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/interpolation/TimeInterpolatableBuffer.java b/wpimath/src/main/java/edu/wpi/first/math/interpolation/TimeInterpolatableBuffer.java
index 3882583816..3d4c4b8a13 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/interpolation/TimeInterpolatableBuffer.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/interpolation/TimeInterpolatableBuffer.java
@@ -65,7 +65,7 @@ public final class TimeInterpolatableBuffer<T> {
    * @return The new TimeInterpolatableBuffer.
    */
   public static TimeInterpolatableBuffer<Double> createDoubleBuffer(double historySize) {
-    return new TimeInterpolatableBuffer<>(MathUtil::interpolate, historySize);
+    return new TimeInterpolatableBuffer<>(MathUtil::lerp, historySize);
   }
 
   /**
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
index a91804059c..82b761ca0e 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
@@ -77,7 +77,6 @@ public class DifferentialDriveWheelPositions
   public DifferentialDriveWheelPositions interpolate(
       DifferentialDriveWheelPositions endValue, double t) {
     return new DifferentialDriveWheelPositions(
-        MathUtil.interpolate(this.left, endValue.left, t),
-        MathUtil.interpolate(this.right, endValue.right, t));
+        MathUtil.lerp(this.left, endValue.left, t), MathUtil.lerp(this.right, endValue.right, t));
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java
index 4faeafc69c..663c8a9e77 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java
@@ -96,9 +96,9 @@ public class MecanumDriveWheelPositions
   @Override
   public MecanumDriveWheelPositions interpolate(MecanumDriveWheelPositions endValue, double t) {
     return new MecanumDriveWheelPositions(
-        MathUtil.interpolate(this.frontLeft, endValue.frontLeft, t),
-        MathUtil.interpolate(this.frontRight, endValue.frontRight, t),
-        MathUtil.interpolate(this.rearLeft, endValue.rearLeft, t),
-        MathUtil.interpolate(this.rearRight, endValue.rearRight, t));
+        MathUtil.lerp(this.frontLeft, endValue.frontLeft, t),
+        MathUtil.lerp(this.frontRight, endValue.frontRight, t),
+        MathUtil.lerp(this.rearLeft, endValue.rearLeft, t),
+        MathUtil.lerp(this.rearRight, endValue.rearRight, t));
   }
 }
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java
index fc65e5f788..10ddb4aba7 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java
@@ -99,7 +99,7 @@ public class SwerveModulePosition
   @Override
   public SwerveModulePosition interpolate(SwerveModulePosition endValue, double t) {
     return new SwerveModulePosition(
-        MathUtil.interpolate(this.distance, endValue.distance, t),
+        MathUtil.lerp(this.distance, endValue.distance, t),
         this.angle.interpolate(endValue.angle, 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 bea2261feb..df4b30bbda 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
@@ -5,6 +5,7 @@
 package edu.wpi.first.math.trajectory;
 
 import com.fasterxml.jackson.annotation.JsonProperty;
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Transform2d;
 import edu.wpi.first.math.trajectory.proto.TrajectoryProto;
@@ -48,18 +49,6 @@ public class Trajectory implements ProtobufSerializable {
     m_totalTime = m_states.get(m_states.size() - 1).time;
   }
 
-  /**
-   * Linearly interpolates between two values.
-   *
-   * @param startValue The start value.
-   * @param endValue The end value.
-   * @param t The fraction for interpolation.
-   * @return The interpolated value.
-   */
-  private static double lerp(double startValue, double endValue, double t) {
-    return startValue + (endValue - startValue) * t;
-  }
-
   /**
    * Linearly interpolates between two poses.
    *
@@ -317,7 +306,7 @@ public class Trajectory implements ProtobufSerializable {
      */
     State interpolate(State endValue, double i) {
       // Find the new t value.
-      final double newT = lerp(time, endValue.time, i);
+      final double newT = MathUtil.lerp(time, endValue.time, i);
 
       // Find the delta time between the current state and the interpolated state.
       final double deltaT = newT - time;
@@ -351,7 +340,7 @@ public class Trajectory implements ProtobufSerializable {
           newV,
           acceleration,
           lerp(pose, endValue.pose, interpolationFrac),
-          lerp(curvature, endValue.curvature, interpolationFrac));
+          MathUtil.lerp(curvature, endValue.curvature, interpolationFrac));
     }
 
     @Override
diff --git a/wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java b/wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java
index ed9f4ef8f5..d4262db4e1 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/MathUtilTest.java
@@ -18,6 +18,37 @@ class MathUtilTest extends UtilityClassTest<MathUtil> {
     super(MathUtil.class);
   }
 
+  @Test
+  void testLerp() {
+    // 0%
+    assertEquals(2.0, MathUtil.lerp(2.0, 3.0, 0.0));
+    assertEquals(1.0, MathUtil.lerp(1.0, 5.0, 0.0));
+
+    // 25%
+    assertEquals(2.25, MathUtil.lerp(2.0, 3.0, 0.25));
+    assertEquals(2.0, MathUtil.lerp(1.0, 5.0, 0.25));
+
+    // 50%
+    assertEquals(2.5, MathUtil.lerp(2.0, 3.0, 0.5));
+    assertEquals(3.0, MathUtil.lerp(1.0, 5.0, 0.5));
+
+    // 75%
+    assertEquals(2.75, MathUtil.lerp(2.0, 3.0, 0.75));
+    assertEquals(4.0, MathUtil.lerp(1.0, 5.0, 0.75));
+
+    // 100%
+    assertEquals(3.0, MathUtil.lerp(2.0, 3.0, 1.0));
+    assertEquals(5.0, MathUtil.lerp(1.0, 5.0, 1.0));
+
+    // Below minimum
+    assertEquals(0.0, MathUtil.lerp(2.0, 3.0, -2.0));
+    assertEquals(-7.0, MathUtil.lerp(1.0, 5.0, -2.0));
+
+    // Above maximum
+    assertEquals(4.0, MathUtil.lerp(2.0, 3.0, 2.0));
+    assertEquals(9.0, MathUtil.lerp(1.0, 5.0, 2.0));
+  }
+
   @Test
   void testApplyDeadbandUnityScale() {
     // < 0
@@ -136,17 +167,6 @@ class MathUtilTest extends UtilityClassTest<MathUtil> {
     assertEquals(MathUtil.angleModulus(-Math.PI / 2), -Math.PI / 2);
   }
 
-  @Test
-  void testInterpolate() {
-    assertEquals(50, MathUtil.interpolate(0, 100, 0.5));
-    assertEquals(-50, MathUtil.interpolate(0, -100, 0.5));
-    assertEquals(0, MathUtil.interpolate(-50, 50, 0.5));
-    assertEquals(-25, MathUtil.interpolate(-50, 50, 0.25));
-    assertEquals(25, MathUtil.interpolate(-50, 50, 0.75));
-
-    assertEquals(0, MathUtil.interpolate(0, -100, -0.5));
-  }
-
   @Test
   void testIsNear() {
     // The answer is always 42