diff --git a/src/base/matrix.rs b/src/base/matrix.rs
index 0d0f9f26..f1417d39 100644
--- a/src/base/matrix.rs
+++ b/src/base/matrix.rs
@@ -1993,7 +1993,10 @@ impl_fmt!(fmt::Binary, "{:b}", "{:.1$b}");
 impl_fmt!(fmt::Pointer, "{:p}", "{:.1$p}");
 
 /// Displays a vector using commas as the delimiter
-pub fn display_column_vec_as_row<T: Scalar + fmt::Display, D: crate::DimName>(vector: &OVector<T, D>, f: &mut fmt::Formatter<'_>) -> fmt::Result
+pub fn format_column_vec_as_row<T: Scalar + fmt::Display, D: crate::DimName>(
+    vector: &OVector<T, D>,
+    f: &mut fmt::Formatter<'_>,
+) -> fmt::Result
 where
     DefaultAllocator: Allocator<T, D>,
 {
diff --git a/src/geometry/dual_quaternion.rs b/src/geometry/dual_quaternion.rs
index 46666863..adb6d9ea 100644
--- a/src/geometry/dual_quaternion.rs
+++ b/src/geometry/dual_quaternion.rs
@@ -952,7 +952,7 @@ impl<T: RealField> Default for UnitDualQuaternion<T> {
 impl<T: RealField + fmt::Display> fmt::Display for UnitDualQuaternion<T> {
     fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         write!(f, "{{ translation: ")?;
-        crate::display_column_vec_as_row(&self.translation().vector, f)?;
+        crate::format_column_vec_as_row(&self.translation().vector, f)?;
         write!(f, ", ")?;
         write!(f, "rotation: ")?;
         std::fmt::Display::fmt(&self.rotation(), f)?;
diff --git a/src/geometry/isometry.rs b/src/geometry/isometry.rs
index 6f375d45..5db33bc3 100755
--- a/src/geometry/isometry.rs
+++ b/src/geometry/isometry.rs
@@ -549,7 +549,7 @@ where
 {
     fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         write!(f, "{{ translation: ")?;
-        crate::display_column_vec_as_row(&self.translation.vector, f)?;
+        crate::format_column_vec_as_row(&self.translation.vector, f)?;
         write!(f, ", ")?;
         write!(f, "rotation: ")?;
         std::fmt::Display::fmt(&self.rotation, f)?;
diff --git a/src/geometry/point.rs b/src/geometry/point.rs
index d639a04a..dce84ed4 100644
--- a/src/geometry/point.rs
+++ b/src/geometry/point.rs
@@ -35,7 +35,7 @@ use std::mem::MaybeUninit;
 /// may have some other methods, e.g., `isometry.inverse_transform_point(&point)`. See the documentation
 /// of said transformations for details.
 #[repr(C)]
-#[derive(Clone, Debug)]
+#[derive(Clone)]
 #[cfg_attr(
     feature = "rkyv-serialize-no-std",
     derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize)
@@ -49,6 +49,15 @@ where
     pub coords: OVector<T, D>,
 }
 
+impl<T: Scalar + fmt::Debug, D: DimName> fmt::Debug for OPoint<T, D>
+where
+    DefaultAllocator: Allocator<T, D>,
+{
+    fn fmt(&self, formatter: &mut fmt::Formatter<'_>) -> Result<(), fmt::Error> {
+        self.coords.as_slice().fmt(formatter)
+    }
+}
+
 impl<T: Scalar + hash::Hash, D: DimName> hash::Hash for OPoint<T, D>
 where
     DefaultAllocator: Allocator<T, D>,
@@ -458,7 +467,7 @@ where
     /// ```
     fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         if f.alternate() {
-            crate::display_column_vec_as_row(&self.coords, f)
+            crate::format_column_vec_as_row(&self.coords, f)
         } else {
             std::fmt::Display::fmt(&self.coords, f) // pretty-prints vector
         }
diff --git a/src/geometry/scale.rs b/src/geometry/scale.rs
index ad09cca5..4a06ac6c 100755
--- a/src/geometry/scale.rs
+++ b/src/geometry/scale.rs
@@ -23,13 +23,19 @@ use crate::geometry::Point;
     derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize)
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
-#[derive(Copy, Clone, Debug)]
+#[derive(Copy, Clone)]
 pub struct Scale<T, const D: usize> {
     /// The scale coordinates, i.e., how much is multiplied to a point's coordinates when it is
     /// scaled.
     pub vector: SVector<T, D>,
 }
 
+impl<T: fmt::Debug, const D: usize> fmt::Debug for Scale<T, D> {
+    fn fmt(&self, formatter: &mut fmt::Formatter<'_>) -> Result<(), fmt::Error> {
+        self.vector.as_slice().fmt(formatter)
+    }
+}
+
 impl<T: Scalar + hash::Hash, const D: usize> hash::Hash for Scale<T, D>
 where
     Owned<T, Const<D>>: hash::Hash,
@@ -364,7 +370,7 @@ where
 impl<T: Scalar + fmt::Display, const D: usize> fmt::Display for Scale<T, D> {
     fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         if f.alternate() {
-            crate::display_column_vec_as_row(&self.vector, f)
+            crate::format_column_vec_as_row(&self.vector, f)
         } else {
             std::fmt::Display::fmt(&self.vector, f) // pretty-prints vector
         }
diff --git a/src/geometry/similarity.rs b/src/geometry/similarity.rs
index 0a6060ac..cb5e32f0 100755
--- a/src/geometry/similarity.rs
+++ b/src/geometry/similarity.rs
@@ -398,7 +398,7 @@ where
 {
     fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         write!(f, "{{ translation: ")?;
-        crate::display_column_vec_as_row(&self.isometry.translation.vector, f)?;
+        crate::format_column_vec_as_row(&self.isometry.translation.vector, f)?;
         write!(f, ", ")?;
         write!(f, "rotation: ")?;
         std::fmt::Display::fmt(&self.isometry.rotation, f)?;
diff --git a/src/geometry/translation.rs b/src/geometry/translation.rs
index b910d88b..2cbff1a0 100755
--- a/src/geometry/translation.rs
+++ b/src/geometry/translation.rs
@@ -23,13 +23,19 @@ use crate::geometry::Point;
     derive(rkyv::Archive, rkyv::Serialize, rkyv::Deserialize)
 )]
 #[cfg_attr(feature = "cuda", derive(cust_core::DeviceCopy))]
-#[derive(Copy, Clone, Debug)]
+#[derive(Copy, Clone)]
 pub struct Translation<T, const D: usize> {
     /// The translation coordinates, i.e., how much is added to a point's coordinates when it is
     /// translated.
     pub vector: SVector<T, D>,
 }
 
+impl<T: fmt::Debug, const D: usize> fmt::Debug for Translation<T, D> {
+    fn fmt(&self, formatter: &mut fmt::Formatter<'_>) -> Result<(), fmt::Error> {
+        self.vector.as_slice().fmt(formatter)
+    }
+}
+
 impl<T: Scalar + hash::Hash, const D: usize> hash::Hash for Translation<T, D>
 where
     Owned<T, Const<D>>: hash::Hash,
@@ -279,7 +285,7 @@ where
 impl<T: Scalar + fmt::Display, const D: usize> fmt::Display for Translation<T, D> {
     fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         if f.alternate() {
-            crate::display_column_vec_as_row(&self.vector, f)
+            crate::format_column_vec_as_row(&self.vector, f)
         } else {
             std::fmt::Display::fmt(&self.vector, f) // pretty-prints vector
         }