diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs
index 37ca57f9..f79311e3 100644
--- a/src/geometry/mod.rs
+++ b/src/geometry/mod.rs
@@ -48,6 +48,13 @@ mod translation_coordinates;
 mod translation_ops;
 mod translation_simba;
 
+mod scale;
+mod scale_alias;
+mod scale_construction;
+mod scale_conversion;
+mod scale_coordinates;
+mod scale_ops;
+
 mod isometry;
 mod isometry_alias;
 mod isometry_construction;
@@ -95,6 +102,9 @@ pub use self::unit_complex::*;
 pub use self::translation::*;
 pub use self::translation_alias::*;
 
+pub use self::scale::*;
+pub use self::scale_alias::*;
+
 pub use self::isometry::*;
 pub use self::isometry_alias::*;
 
diff --git a/src/geometry/scale.rs b/src/geometry/scale.rs
index 48656f9c..aa83c63c 100755
--- a/src/geometry/scale.rs
+++ b/src/geometry/scale.rs
@@ -20,21 +20,21 @@ use crate::base::{Const, DefaultAllocator, OMatrix, SVector, Scalar};
 
 use crate::geometry::Point;
 
-/// A translation.
+/// A scale which supports non-uniform scaling.
 #[repr(C)]
-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 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 Translation<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 Translation<T, D>
+impl<T: Scalar + hash::Hash, const D: usize> hash::Hash for Scale<T, D>
 where
     Owned<T, Const<D>>: hash::Hash,
 {
@@ -43,20 +43,20 @@ where
     }
 }
 
-impl<T: Scalar + Copy, const D: usize> Copy for Translation<T, D> {}
+impl<T: Scalar + Copy, const D: usize> Copy for Scale<T, D> {}
 
-impl<T: Scalar, const D: usize> Clone for Translation<T, D>
+impl<T: Scalar, const D: usize> Clone for Scale<T, D>
 where
     Owned<T, Const<D>>: Clone,
 {
     #[inline]
     fn clone(&self) -> Self {
-        Translation::from(self.vector.clone())
+        Scale::from(self.vector.clone())
     }
 }
 
 #[cfg(feature = "bytemuck")]
-unsafe impl<T, const D: usize> bytemuck::Zeroable for Translation<T, D>
+unsafe impl<T, const D: usize> bytemuck::Zeroable for Scale<T, D>
 where
     T: Scalar + bytemuck::Zeroable,
     SVector<T, D>: bytemuck::Zeroable,
@@ -64,7 +64,7 @@ where
 }
 
 #[cfg(feature = "bytemuck")]
-unsafe impl<T, const D: usize> bytemuck::Pod for Translation<T, D>
+unsafe impl<T, const D: usize> bytemuck::Pod for Scale<T, D>
 where
     T: Scalar + bytemuck::Pod,
     SVector<T, D>: bytemuck::Pod,
@@ -72,7 +72,7 @@ where
 }
 
 #[cfg(feature = "abomonation-serialize")]
-impl<T, const D: usize> Abomonation for Translation<T, D>
+impl<T, const D: usize> Abomonation for Scale<T, D>
 where
     T: Scalar,
     SVector<T, D>: Abomonation,
@@ -91,7 +91,7 @@ where
 }
 
 #[cfg(feature = "serde-serialize-no-std")]
-impl<T: Scalar, const D: usize> Serialize for Translation<T, D>
+impl<T: Scalar, const D: usize> Serialize for Scale<T, D>
 where
     Owned<T, Const<D>>: Serialize,
 {
@@ -104,7 +104,7 @@ where
 }
 
 #[cfg(feature = "serde-serialize-no-std")]
-impl<'a, T: Scalar, const D: usize> Deserialize<'a> for Translation<T, D>
+impl<'a, T: Scalar, const D: usize> Deserialize<'a> for Scale<T, D>
 where
     Owned<T, Const<D>>: Deserialize<'a>,
 {
@@ -114,18 +114,18 @@ where
     {
         let matrix = SVector::<T, D>::deserialize(deserializer)?;
 
-        Ok(Translation::from(matrix))
+        Ok(Scale::from(matrix))
     }
 }
 
 #[cfg(feature = "rkyv-serialize-no-std")]
 mod rkyv_impl {
-    use super::Translation;
+    use super::Scale;
     use crate::base::SVector;
     use rkyv::{offset_of, project_struct, Archive, Deserialize, Fallible, Serialize};
 
-    impl<T: Archive, const D: usize> Archive for Translation<T, D> {
-        type Archived = Translation<T::Archived, D>;
+    impl<T: Archive, const D: usize> Archive for Scale<T, D> {
+        type Archived = Scale<T::Archived, D>;
         type Resolver = <SVector<T, D> as Archive>::Resolver;
 
         fn resolve(
@@ -142,69 +142,69 @@ mod rkyv_impl {
         }
     }
 
-    impl<T: Serialize<S>, S: Fallible + ?Sized, const D: usize> Serialize<S> for Translation<T, D> {
+    impl<T: Serialize<S>, S: Fallible + ?Sized, const D: usize> Serialize<S> for Scale<T, D> {
         fn serialize(&self, serializer: &mut S) -> Result<Self::Resolver, S::Error> {
             self.vector.serialize(serializer)
         }
     }
 
-    impl<T: Archive, _D: Fallible + ?Sized, const D: usize> Deserialize<Translation<T, D>, _D>
-        for Translation<T::Archived, D>
+    impl<T: Archive, _D: Fallible + ?Sized, const D: usize> Deserialize<Scale<T, D>, _D>
+        for Scale<T::Archived, D>
     where
         T::Archived: Deserialize<T, _D>,
     {
-        fn deserialize(&self, deserializer: &mut _D) -> Result<Translation<T, D>, _D::Error> {
-            Ok(Translation {
+        fn deserialize(&self, deserializer: &mut _D) -> Result<Scale<T, D>, _D::Error> {
+            Ok(Scale {
                 vector: self.vector.deserialize(deserializer)?,
             })
         }
     }
 }
 
-impl<T: Scalar, const D: usize> Translation<T, D> {
-    /// Creates a new translation from the given vector.
+impl<T: Scalar, const D: usize> Scale<T, D> {
+    /// Creates a new Scale from the given vector.
     #[inline]
     #[deprecated(note = "Use `::from` instead.")]
-    pub fn from_vector(vector: SVector<T, D>) -> Translation<T, D> {
-        Translation { vector }
+    pub fn from_vector(vector: SVector<T, D>) -> Scale<T, D> {
+        Scale { vector }
     }
 
     /// Inverts `self`.
     ///
     /// # Example
     /// ```
-    /// # use nalgebra::{Translation2, Translation3};
-    /// let t = Translation3::new(1.0, 2.0, 3.0);
-    /// assert_eq!(t * t.inverse(), Translation3::identity());
-    /// assert_eq!(t.inverse() * t, Translation3::identity());
+    /// # use nalgebra::{Scale2, Scale3};
+    /// let t = Scale3::new(1.0, 2.0, 3.0);
+    /// assert_eq!(t * t.inverse(), Scale3::identity());
+    /// assert_eq!(t.inverse() * t, Scale3::identity());
     ///
     /// // Work in all dimensions.
-    /// let t = Translation2::new(1.0, 2.0);
-    /// assert_eq!(t * t.inverse(), Translation2::identity());
-    /// assert_eq!(t.inverse() * t, Translation2::identity());
+    /// let t = Scale2::new(1.0, 2.0);
+    /// assert_eq!(t * t.inverse(), Scale2::identity());
+    /// assert_eq!(t.inverse() * t, Scale2::identity());
     /// ```
     #[inline]
     #[must_use = "Did you mean to use inverse_mut()?"]
-    pub fn inverse(&self) -> Translation<T, D>
+    pub fn inverse(&self) -> Scale<T, D>
     where
         T: ClosedNeg,
     {
-        Translation::from(-&self.vector)
+        todo!();
     }
 
-    /// Converts this translation into its equivalent homogeneous transformation matrix.
+    /// Converts this Scale into its equivalent homogeneous transformation matrix.
     ///
     /// # Example
     /// ```
-    /// # use nalgebra::{Translation2, Translation3, Matrix3, Matrix4};
-    /// let t = Translation3::new(10.0, 20.0, 30.0);
+    /// # use nalgebra::{Scale2, Scale3, Matrix3, Matrix4};
+    /// let t = Scale3::new(10.0, 20.0, 30.0);
     /// let expected = Matrix4::new(1.0, 0.0, 0.0, 10.0,
     ///                             0.0, 1.0, 0.0, 20.0,
     ///                             0.0, 0.0, 1.0, 30.0,
     ///                             0.0, 0.0, 0.0, 1.0);
     /// assert_eq!(t.to_homogeneous(), expected);
     ///
-    /// let t = Translation2::new(10.0, 20.0);
+    /// let t = Scale2::new(10.0, 20.0);
     /// let expected = Matrix3::new(1.0, 0.0, 10.0,
     ///                             0.0, 1.0, 20.0,
     ///                             0.0, 0.0, 1.0);
@@ -218,83 +218,80 @@ impl<T: Scalar, const D: usize> Translation<T, D> {
         Const<D>: DimNameAdd<U1>,
         DefaultAllocator: Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>,
     {
-        let mut res = OMatrix::<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>::identity();
-        res.fixed_slice_mut::<D, 1>(0, D).copy_from(&self.vector);
-
-        res
+        todo!();
     }
 
     /// Inverts `self` in-place.
     ///
     /// # Example
     /// ```
-    /// # use nalgebra::{Translation2, Translation3};
-    /// let t = Translation3::new(1.0, 2.0, 3.0);
-    /// let mut inv_t = Translation3::new(1.0, 2.0, 3.0);
+    /// # use nalgebra::{Scale2, Scale3};
+    /// let t = Scale3::new(1.0, 2.0, 3.0);
+    /// let mut inv_t = Scale3::new(1.0, 2.0, 3.0);
     /// inv_t.inverse_mut();
-    /// assert_eq!(t * inv_t, Translation3::identity());
-    /// assert_eq!(inv_t * t, Translation3::identity());
+    /// assert_eq!(t * inv_t, Scale3::identity());
+    /// assert_eq!(inv_t * t, Scale3::identity());
     ///
     /// // Work in all dimensions.
-    /// let t = Translation2::new(1.0, 2.0);
-    /// let mut inv_t = Translation2::new(1.0, 2.0);
+    /// let t = Scale2::new(1.0, 2.0);
+    /// let mut inv_t = Scale2::new(1.0, 2.0);
     /// inv_t.inverse_mut();
-    /// assert_eq!(t * inv_t, Translation2::identity());
-    /// assert_eq!(inv_t * t, Translation2::identity());
+    /// assert_eq!(t * inv_t, Scale2::identity());
+    /// assert_eq!(inv_t * t, Scale2::identity());
     /// ```
     #[inline]
     pub fn inverse_mut(&mut self)
     where
         T: ClosedNeg,
     {
-        self.vector.neg_mut()
+        todo!();
     }
 }
 
-impl<T: Scalar + ClosedAdd, const D: usize> Translation<T, D> {
+impl<T: Scalar + ClosedAdd, const D: usize> Scale<T, D> {
     /// Translate the given point.
     ///
     /// This is the same as the multiplication `self * pt`.
     ///
     /// # Example
     /// ```
-    /// # use nalgebra::{Translation3, Point3};
-    /// let t = Translation3::new(1.0, 2.0, 3.0);
+    /// # use nalgebra::{Scale3, Point3};
+    /// let t = Scale3::new(1.0, 2.0, 3.0);
     /// let transformed_point = t.transform_point(&Point3::new(4.0, 5.0, 6.0));
     /// assert_eq!(transformed_point, Point3::new(5.0, 7.0, 9.0));
     #[inline]
     #[must_use]
     pub fn transform_point(&self, pt: &Point<T, D>) -> Point<T, D> {
-        pt + &self.vector
+        todo!();
     }
 }
 
-impl<T: Scalar + ClosedSub, const D: usize> Translation<T, D> {
-    /// Translate the given point by the inverse of this translation.
+impl<T: Scalar + ClosedSub, const D: usize> Scale<T, D> {
+    /// Translate the given point by the inverse of this Scale.
     ///
     /// # Example
     /// ```
-    /// # use nalgebra::{Translation3, Point3};
-    /// let t = Translation3::new(1.0, 2.0, 3.0);
+    /// # use nalgebra::{Scale3, Point3};
+    /// let t = Scale3::new(1.0, 2.0, 3.0);
     /// let transformed_point = t.inverse_transform_point(&Point3::new(4.0, 5.0, 6.0));
     /// assert_eq!(transformed_point, Point3::new(3.0, 3.0, 3.0));
     #[inline]
     #[must_use]
     pub fn inverse_transform_point(&self, pt: &Point<T, D>) -> Point<T, D> {
-        pt - &self.vector
+        todo!();
     }
 }
 
-impl<T: Scalar + Eq, const D: usize> Eq for Translation<T, D> {}
+impl<T: Scalar + Eq, const D: usize> Eq for Scale<T, D> {}
 
-impl<T: Scalar + PartialEq, const D: usize> PartialEq for Translation<T, D> {
+impl<T: Scalar + PartialEq, const D: usize> PartialEq for Scale<T, D> {
     #[inline]
-    fn eq(&self, right: &Translation<T, D>) -> bool {
+    fn eq(&self, right: &Scale<T, D>) -> bool {
         self.vector == right.vector
     }
 }
 
-impl<T: Scalar + AbsDiffEq, const D: usize> AbsDiffEq for Translation<T, D>
+impl<T: Scalar + AbsDiffEq, const D: usize> AbsDiffEq for Scale<T, D>
 where
     T::Epsilon: Clone,
 {
@@ -311,7 +308,7 @@ where
     }
 }
 
-impl<T: Scalar + RelativeEq, const D: usize> RelativeEq for Translation<T, D>
+impl<T: Scalar + RelativeEq, const D: usize> RelativeEq for Scale<T, D>
 where
     T::Epsilon: Clone,
 {
@@ -332,7 +329,7 @@ where
     }
 }
 
-impl<T: Scalar + UlpsEq, const D: usize> UlpsEq for Translation<T, D>
+impl<T: Scalar + UlpsEq, const D: usize> UlpsEq for Scale<T, D>
 where
     T::Epsilon: Clone,
 {
@@ -352,11 +349,11 @@ where
  * Display
  *
  */
-impl<T: Scalar + fmt::Display, const D: usize> fmt::Display for Translation<T, D> {
+impl<T: Scalar + fmt::Display, const D: usize> fmt::Display for Scale<T, D> {
     fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         let precision = f.precision().unwrap_or(3);
 
-        writeln!(f, "Translation {{")?;
+        writeln!(f, "Scale {{")?;
         write!(f, "{:.*}", precision, self.vector)?;
         writeln!(f, "}}")
     }
diff --git a/src/geometry/scale_alias.rs b/src/geometry/scale_alias.rs
index 06dc0794..87932442 100644
--- a/src/geometry/scale_alias.rs
+++ b/src/geometry/scale_alias.rs
@@ -1,19 +1,19 @@
-use crate::geometry::Translation;
+use crate::geometry::Scale;
 
-/// A 1-dimensional translation.
-pub type Translation1<T> = Translation<T, 1>;
+/// A 1-dimensional scale.
+pub type Scale1<T> = Scale<T, 1>;
 
-/// A 2-dimensional translation.
-pub type Translation2<T> = Translation<T, 2>;
+/// A 2-dimensional scale.
+pub type Scale2<T> = Scale<T, 2>;
 
-/// A 3-dimensional translation.
-pub type Translation3<T> = Translation<T, 3>;
+/// A 3-dimensional scale.
+pub type Scale3<T> = Scale<T, 3>;
 
-/// A 4-dimensional translation.
-pub type Translation4<T> = Translation<T, 4>;
+/// A 4-dimensional scale.
+pub type Scale4<T> = Scale<T, 4>;
 
-/// A 5-dimensional translation.
-pub type Translation5<T> = Translation<T, 5>;
+/// A 5-dimensional scale.
+pub type Scale5<T> = Scale<T, 5>;
 
-/// A 6-dimensional translation.
-pub type Translation6<T> = Translation<T, 6>;
+/// A 6-dimensional scale.
+pub type Scale6<T> = Scale<T, 6>;
diff --git a/src/geometry/scale_construction.rs b/src/geometry/scale_construction.rs
index 5371b648..a3d9b151 100644
--- a/src/geometry/scale_construction.rs
+++ b/src/geometry/scale_construction.rs
@@ -13,49 +13,49 @@ use rand::{
 use simba::scalar::{ClosedAdd, SupersetOf};
 
 use crate::base::{SVector, Scalar};
-use crate::geometry::Translation;
+use crate::geometry::Scale;
 
-impl<T: Scalar, const D: usize> Translation<T, D> {
-    /// Creates a new identity translation.
+impl<T: Scalar, const D: usize> Scale<T, D> {
+    /// Creates a new identity scale.
     ///
     /// # Example
     /// ```
-    /// # use nalgebra::{Point2, Point3, Translation2, Translation3};
-    /// let t = Translation2::identity();
+    /// # use nalgebra::{Point2, Point3, Scale2, Scale3};
+    /// let t = Scale2::identity();
     /// let p = Point2::new(1.0, 2.0);
     /// assert_eq!(t * p, p);
     ///
     /// // Works in all dimensions.
-    /// let t = Translation3::identity();
+    /// let t = Scale3::identity();
     /// let p = Point3::new(1.0, 2.0, 3.0);
     /// assert_eq!(t * p, p);
     /// ```
     #[inline]
-    pub fn identity() -> Translation<T, D>
+    pub fn identity() -> Scale<T, D>
     where
         T: Zero,
     {
-        Self::from(SVector::<T, D>::from_element(T::zero()))
+        todo!();
     }
 
     /// Cast the components of `self` to another type.
     ///
     /// # Example
     /// ```
-    /// # use nalgebra::Translation2;
-    /// let tra = Translation2::new(1.0f64, 2.0);
+    /// # use nalgebra::Scale2;
+    /// let tra = Scale2::new(1.0f64, 2.0);
     /// let tra2 = tra.cast::<f32>();
-    /// assert_eq!(tra2, Translation2::new(1.0f32, 2.0));
+    /// assert_eq!(tra2, Scale2::new(1.0f32, 2.0));
     /// ```
-    pub fn cast<To: Scalar>(self) -> Translation<To, D>
+    pub fn cast<To: Scalar>(self) -> Scale<To, D>
     where
-        Translation<To, D>: SupersetOf<Self>,
+        Scale<To, D>: SupersetOf<Self>,
     {
         crate::convert(self)
     }
 }
 
-impl<T: Scalar + Zero + ClosedAdd, const D: usize> One for Translation<T, D> {
+impl<T: Scalar + Zero + ClosedAdd, const D: usize> One for Scale<T, D> {
     #[inline]
     fn one() -> Self {
         Self::identity()
@@ -63,19 +63,19 @@ impl<T: Scalar + Zero + ClosedAdd, const D: usize> One for Translation<T, D> {
 }
 
 #[cfg(feature = "rand-no-std")]
-impl<T: Scalar, const D: usize> Distribution<Translation<T, D>> for Standard
+impl<T: Scalar, const D: usize> Distribution<Scale<T, D>> for Standard
 where
     Standard: Distribution<T>,
 {
     /// Generate an arbitrary random variate for testing purposes.
     #[inline]
-    fn sample<G: Rng + ?Sized>(&self, rng: &mut G) -> Translation<T, D> {
-        Translation::from(rng.gen::<SVector<T, D>>())
+    fn sample<G: Rng + ?Sized>(&self, rng: &mut G) -> Scale<T, D> {
+        Scale::from(rng.gen::<SVector<T, D>>())
     }
 }
 
 #[cfg(feature = "arbitrary")]
-impl<T: Scalar + Arbitrary + Send, const D: usize> Arbitrary for Translation<T, D>
+impl<T: Scalar + Arbitrary + Send, const D: usize> Arbitrary for Scale<T, D>
 where
     Owned<T, crate::Const<D>>: Send,
 {
@@ -88,14 +88,14 @@ where
 
 /*
  *
- * Small translation construction from components.
+ * Small Scale construction from components.
  *
  */
 macro_rules! componentwise_constructors_impl(
     ($($doc: expr; $D: expr, $($args: ident:$irow: expr),*);* $(;)*) => {$(
-        impl<T> Translation<T, $D>
+        impl<T> Scale<T, $D>
              {
-            #[doc = "Initializes this translation from its components."]
+            #[doc = "Initializes this Scale from its components."]
             #[doc = "# Example\n```"]
             #[doc = $doc]
             #[doc = "```"]
@@ -108,16 +108,16 @@ macro_rules! componentwise_constructors_impl(
 );
 
 componentwise_constructors_impl!(
-    "# use nalgebra::Translation1;\nlet t = Translation1::new(1.0);\nassert!(t.vector.x == 1.0);";
+    "# use nalgebra::Scale1;\nlet t = Scale1::new(1.0);\nassert!(t.vector.x == 1.0);";
     1, x:0;
-    "# use nalgebra::Translation2;\nlet t = Translation2::new(1.0, 2.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0);";
+    "# use nalgebra::Scale2;\nlet t = Scale2::new(1.0, 2.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0);";
     2, x:0, y:1;
-    "# use nalgebra::Translation3;\nlet t = Translation3::new(1.0, 2.0, 3.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0);";
+    "# use nalgebra::Scale3;\nlet t = Scale3::new(1.0, 2.0, 3.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0);";
     3, x:0, y:1, z:2;
-    "# use nalgebra::Translation4;\nlet t = Translation4::new(1.0, 2.0, 3.0, 4.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0 && t.vector.w == 4.0);";
+    "# use nalgebra::Scale4;\nlet t = Scale4::new(1.0, 2.0, 3.0, 4.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0 && t.vector.w == 4.0);";
     4, x:0, y:1, z:2, w:3;
-    "# use nalgebra::Translation5;\nlet t = Translation5::new(1.0, 2.0, 3.0, 4.0, 5.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0 && t.vector.w == 4.0 && t.vector.a == 5.0);";
+    "# use nalgebra::Scale5;\nlet t = Scale5::new(1.0, 2.0, 3.0, 4.0, 5.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0 && t.vector.w == 4.0 && t.vector.a == 5.0);";
     5, x:0, y:1, z:2, w:3, a:4;
-    "# use nalgebra::Translation6;\nlet t = Translation6::new(1.0, 2.0, 3.0, 4.0, 5.0, 6.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0 && t.vector.w == 4.0 && t.vector.a == 5.0 && t.vector.b == 6.0);";
+    "# use nalgebra::Scale6;\nlet t = Scale6::new(1.0, 2.0, 3.0, 4.0, 5.0, 6.0);\nassert!(t.vector.x == 1.0 && t.vector.y == 2.0 && t.vector.z == 3.0 && t.vector.w == 4.0 && t.vector.a == 5.0 && t.vector.b == 6.0);";
     6, x:0, y:1, z:2, w:3, a:4, b:5;
 );
diff --git a/src/geometry/scale_conversion.rs b/src/geometry/scale_conversion.rs
index 70000efb..ed8d4c7a 100644
--- a/src/geometry/scale_conversion.rs
+++ b/src/geometry/scale_conversion.rs
@@ -8,8 +8,7 @@ use crate::base::dimension::{DimNameAdd, DimNameSum, U1};
 use crate::base::{Const, DefaultAllocator, DimName, OMatrix, OVector, SVector, Scalar};
 
 use crate::geometry::{
-    AbstractRotation, Isometry, Similarity, SuperTCategoryOf, TAffine, Transform, Translation,
-    Translation3, UnitDualQuaternion, UnitQuaternion,
+    SuperTCategoryOf, TAffine, Transform, Scale
 };
 use crate::Point;
 
@@ -17,106 +16,35 @@ use crate::Point;
  * This file provides the following conversions:
  * =============================================
  *
- * Translation -> Translation
- * Translation -> Isometry
- * Translation3 -> UnitDualQuaternion
- * Translation -> Similarity
- * Translation -> Transform
- * Translation -> Matrix (homogeneous)
+ * Scale -> Scale
+ * Scale -> Transform
+ * Scale -> Matrix (homogeneous)
  */
 
-impl<T1, T2, const D: usize> SubsetOf<Translation<T2, D>> for Translation<T1, D>
+impl<T1, T2, const D: usize> SubsetOf<Scale<T2, D>> for Scale<T1, D>
 where
     T1: Scalar,
     T2: Scalar + SupersetOf<T1>,
 {
     #[inline]
-    fn to_superset(&self) -> Translation<T2, D> {
-        Translation::from(self.vector.to_superset())
+    fn to_superset(&self) -> Scale<T2, D> {
+        Scale::from(self.vector.to_superset())
     }
 
     #[inline]
-    fn is_in_subset(rot: &Translation<T2, D>) -> bool {
+    fn is_in_subset(rot: &Scale<T2, D>) -> bool {
         crate::is_convertible::<_, SVector<T1, D>>(&rot.vector)
     }
 
     #[inline]
-    fn from_superset_unchecked(rot: &Translation<T2, D>) -> Self {
-        Translation {
+    fn from_superset_unchecked(rot: &Scale<T2, D>) -> Self {
+        Scale {
             vector: rot.vector.to_subset_unchecked(),
         }
     }
 }
 
-impl<T1, T2, R, const D: usize> SubsetOf<Isometry<T2, R, D>> for Translation<T1, D>
-where
-    T1: RealField,
-    T2: RealField + SupersetOf<T1>,
-    R: AbstractRotation<T2, D>,
-{
-    #[inline]
-    fn to_superset(&self) -> Isometry<T2, R, D> {
-        Isometry::from_parts(self.to_superset(), R::identity())
-    }
-
-    #[inline]
-    fn is_in_subset(iso: &Isometry<T2, R, D>) -> bool {
-        iso.rotation == R::identity()
-    }
-
-    #[inline]
-    fn from_superset_unchecked(iso: &Isometry<T2, R, D>) -> Self {
-        Self::from_superset_unchecked(&iso.translation)
-    }
-}
-
-impl<T1, T2> SubsetOf<UnitDualQuaternion<T2>> for Translation3<T1>
-where
-    T1: RealField,
-    T2: RealField + SupersetOf<T1>,
-{
-    #[inline]
-    fn to_superset(&self) -> UnitDualQuaternion<T2> {
-        let dq = UnitDualQuaternion::<T1>::from_parts(self.clone(), UnitQuaternion::identity());
-        dq.to_superset()
-    }
-
-    #[inline]
-    fn is_in_subset(dq: &UnitDualQuaternion<T2>) -> bool {
-        crate::is_convertible::<_, Translation<T1, 3>>(&dq.translation())
-            && dq.rotation() == UnitQuaternion::identity()
-    }
-
-    #[inline]
-    fn from_superset_unchecked(dq: &UnitDualQuaternion<T2>) -> Self {
-        let dq: UnitDualQuaternion<T1> = crate::convert_ref_unchecked(dq);
-        dq.translation()
-    }
-}
-
-impl<T1, T2, R, const D: usize> SubsetOf<Similarity<T2, R, D>> for Translation<T1, D>
-where
-    T1: RealField,
-    T2: RealField + SupersetOf<T1>,
-    R: AbstractRotation<T2, D>,
-{
-    #[inline]
-    fn to_superset(&self) -> Similarity<T2, R, D> {
-        Similarity::from_parts(self.to_superset(), R::identity(), T2::one())
-    }
-
-    #[inline]
-    fn is_in_subset(sim: &Similarity<T2, R, D>) -> bool {
-        sim.isometry.rotation == R::identity() && sim.scaling() == T2::one()
-    }
-
-    #[inline]
-    fn from_superset_unchecked(sim: &Similarity<T2, R, D>) -> Self {
-        Self::from_superset_unchecked(&sim.isometry.translation)
-    }
-}
-
-impl<T1, T2, C, const D: usize> SubsetOf<Transform<T2, C, D>> for Translation<T1, D>
+impl<T1, T2, C, const D: usize> SubsetOf<Transform<T2, C, D>> for Scale<T1, D>
 where
     T1: RealField,
     T2: RealField + SupersetOf<T1>,
@@ -142,7 +70,7 @@ where
 }
 
 impl<T1, T2, const D: usize>
-    SubsetOf<OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>> for Translation<T1, D>
+    SubsetOf<OMatrix<T2, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>> for Scale<T1, D>
 where
     T1: RealField,
     T2: RealField + SupersetOf<T1>,
@@ -180,7 +108,7 @@ where
     }
 }
 
-impl<T: Scalar + Zero + One, const D: usize> From<Translation<T, D>>
+impl<T: Scalar + Zero + One, const D: usize> From<Scale<T, D>>
     for OMatrix<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>>
 where
     Const<D>: DimNameAdd<U1>,
@@ -188,49 +116,49 @@ where
         Allocator<T, DimNameSum<Const<D>, U1>, DimNameSum<Const<D>, U1>> + Allocator<T, Const<D>>,
 {
     #[inline]
-    fn from(t: Translation<T, D>) -> Self {
+    fn from(t: Scale<T, D>) -> Self {
         t.to_homogeneous()
     }
 }
 
-impl<T: Scalar, const D: usize> From<OVector<T, Const<D>>> for Translation<T, D> {
+impl<T: Scalar, const D: usize> From<OVector<T, Const<D>>> for Scale<T, D> {
     #[inline]
     fn from(vector: OVector<T, Const<D>>) -> Self {
-        Translation { vector }
+        Scale { vector }
     }
 }
 
-impl<T: Scalar, const D: usize> From<[T; D]> for Translation<T, D> {
+impl<T: Scalar, const D: usize> From<[T; D]> for Scale<T, D> {
     #[inline]
     fn from(coords: [T; D]) -> Self {
-        Translation {
+        Scale {
             vector: coords.into(),
         }
     }
 }
 
-impl<T: Scalar, const D: usize> From<Point<T, D>> for Translation<T, D> {
+impl<T: Scalar, const D: usize> From<Point<T, D>> for Scale<T, D> {
     #[inline]
     fn from(pt: Point<T, D>) -> Self {
-        Translation { vector: pt.coords }
+        Scale { vector: pt.coords }
     }
 }
 
-impl<T: Scalar, const D: usize> From<Translation<T, D>> for [T; D] {
+impl<T: Scalar, const D: usize> From<Scale<T, D>> for [T; D] {
     #[inline]
-    fn from(t: Translation<T, D>) -> Self {
+    fn from(t: Scale<T, D>) -> Self {
         t.vector.into()
     }
 }
 
-impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 2]>
-    for Translation<T, D>
+impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Scale<T::Element, D>; 2]>
+    for Scale<T, D>
 where
     T: From<[<T as simba::simd::SimdValue>::Element; 2]>,
     T::Element: Scalar,
 {
     #[inline]
-    fn from(arr: [Translation<T::Element, D>; 2]) -> Self {
+    fn from(arr: [Scale<T::Element, D>; 2]) -> Self {
         Self::from(OVector::from([
             arr[0].vector.clone(),
             arr[1].vector.clone(),
@@ -238,14 +166,14 @@ where
     }
 }
 
-impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 4]>
-    for Translation<T, D>
+impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Scale<T::Element, D>; 4]>
+    for Scale<T, D>
 where
     T: From<[<T as simba::simd::SimdValue>::Element; 4]>,
     T::Element: Scalar,
 {
     #[inline]
-    fn from(arr: [Translation<T::Element, D>; 4]) -> Self {
+    fn from(arr: [Scale<T::Element, D>; 4]) -> Self {
         Self::from(OVector::from([
             arr[0].vector.clone(),
             arr[1].vector.clone(),
@@ -255,14 +183,14 @@ where
     }
 }
 
-impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 8]>
-    for Translation<T, D>
+impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Scale<T::Element, D>; 8]>
+    for Scale<T, D>
 where
     T: From<[<T as simba::simd::SimdValue>::Element; 8]>,
     T::Element: Scalar,
 {
     #[inline]
-    fn from(arr: [Translation<T::Element, D>; 8]) -> Self {
+    fn from(arr: [Scale<T::Element, D>; 8]) -> Self {
         Self::from(OVector::from([
             arr[0].vector.clone(),
             arr[1].vector.clone(),
@@ -276,14 +204,14 @@ where
     }
 }
 
-impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Translation<T::Element, D>; 16]>
-    for Translation<T, D>
+impl<T: Scalar + PrimitiveSimdValue, const D: usize> From<[Scale<T::Element, D>; 16]>
+    for Scale<T, D>
 where
     T: From<[<T as simba::simd::SimdValue>::Element; 16]>,
     T::Element: Scalar,
 {
     #[inline]
-    fn from(arr: [Translation<T::Element, D>; 16]) -> Self {
+    fn from(arr: [Scale<T::Element, D>; 16]) -> Self {
         Self::from(OVector::from([
             arr[0].vector.clone(),
             arr[1].vector.clone(),
diff --git a/src/geometry/scale_coordinates.rs b/src/geometry/scale_coordinates.rs
index 80267e06..2f3fb5bc 100644
--- a/src/geometry/scale_coordinates.rs
+++ b/src/geometry/scale_coordinates.rs
@@ -3,29 +3,29 @@ use std::ops::{Deref, DerefMut};
 use crate::base::coordinates::{X, XY, XYZ, XYZW, XYZWA, XYZWAB};
 use crate::base::Scalar;
 
-use crate::geometry::Translation;
+use crate::geometry::Scale;
 
 /*
  *
- * Give coordinates to Translation{1 .. 6}
+ * Give coordinates to Scale{1 .. 6}
  *
  */
 
 macro_rules! deref_impl(
     ($D: expr, $Target: ident $(, $comps: ident)*) => {
-        impl<T: Scalar> Deref for Translation<T, $D> {
+        impl<T: Scalar> Deref for Scale<T, $D> {
             type Target = $Target<T>;
 
             #[inline]
             fn deref(&self) -> &Self::Target {
-                unsafe { &*(self as *const Translation<T, $D> as *const Self::Target) }
+                unsafe { &*(self as *const Scale<T, $D> as *const Self::Target) }
             }
         }
 
-        impl<T: Scalar> DerefMut for Translation<T, $D> {
+        impl<T: Scalar> DerefMut for Scale<T, $D> {
             #[inline]
             fn deref_mut(&mut self) -> &mut Self::Target {
-                unsafe { &mut *(self as *mut Translation<T, $D> as *mut Self::Target) }
+                unsafe { &mut *(self as *mut Scale<T, $D> as *mut Self::Target) }
             }
         }
     }
diff --git a/src/geometry/scale_ops.rs b/src/geometry/scale_ops.rs
index 8851183a..3bb04c83 100644
--- a/src/geometry/scale_ops.rs
+++ b/src/geometry/scale_ops.rs
@@ -6,114 +6,114 @@ use crate::base::constraint::{SameNumberOfColumns, SameNumberOfRows, ShapeConstr
 use crate::base::dimension::U1;
 use crate::base::{Const, Scalar};
 
-use crate::geometry::{Point, Translation};
+use crate::geometry::{Point, Scale};
 
-// Translation × Translation
+// Scale × Scale
 add_sub_impl!(Mul, mul, ClosedAdd;
     (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
-    self: &'a Translation<T, D>, right: &'b Translation<T, D>, Output = Translation<T, D>;
-    #[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(&self.vector + &right.vector) };
+    self: &'a Scale<T, D>, right: &'b Scale<T, D>, Output = Scale<T, D>;
+    #[allow(clippy::suspicious_arithmetic_impl)] { todo!(); };
     'a, 'b);
 
 add_sub_impl!(Mul, mul, ClosedAdd;
     (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
-    self: &'a Translation<T, D>, right: Translation<T, D>, Output = Translation<T, D>;
-    #[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(&self.vector + right.vector) };
+    self: &'a Scale<T, D>, right: Scale<T, D>, Output = Scale<T, D>;
+    #[allow(clippy::suspicious_arithmetic_impl)] { todo!(); };
     'a);
 
 add_sub_impl!(Mul, mul, ClosedAdd;
     (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
-    self: Translation<T, D>, right: &'b Translation<T, D>, Output = Translation<T, D>;
-    #[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector + &right.vector) };
+    self: Scale<T, D>, right: &'b Scale<T, D>, Output = Scale<T, D>;
+    #[allow(clippy::suspicious_arithmetic_impl)] { todo!(); };
     'b);
 
 add_sub_impl!(Mul, mul, ClosedAdd;
     (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
-    self: Translation<T, D>, right: Translation<T, D>, Output = Translation<T, D>;
-    #[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector + right.vector) }; );
+    self: Scale<T, D>, right: Scale<T, D>, Output = Scale<T, D>;
+    #[allow(clippy::suspicious_arithmetic_impl)] { todo!(); }; );
 
-// Translation ÷ Translation
+// Scale ÷ Scale
 // TODO: instead of calling inverse explicitly, could we just add a `mul_tr` or `mul_inv` method?
 add_sub_impl!(Div, div, ClosedSub;
     (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
-    self: &'a Translation<T, D>, right: &'b Translation<T, D>, Output = Translation<T, D>;
-    #[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(&self.vector - &right.vector) };
+    self: &'a Scale<T, D>, right: &'b Scale<T, D>, Output = Scale<T, D>;
+    #[allow(clippy::suspicious_arithmetic_impl)] { todo!(); };
     'a, 'b);
 
 add_sub_impl!(Div, div, ClosedSub;
     (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
-    self: &'a Translation<T, D>, right: Translation<T, D>, Output = Translation<T, D>;
-    #[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(&self.vector - right.vector) };
+    self: &'a Scale<T, D>, right: Scale<T, D>, Output = Scale<T, D>;
+    #[allow(clippy::suspicious_arithmetic_impl)] { todo!(); };
     'a);
 
 add_sub_impl!(Div, div, ClosedSub;
     (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
-    self: Translation<T, D>, right: &'b Translation<T, D>, Output = Translation<T, D>;
-    #[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector - &right.vector) };
+    self: Scale<T, D>, right: &'b Scale<T, D>, Output = Scale<T, D>;
+    #[allow(clippy::suspicious_arithmetic_impl)] { todo!(); };
     'b);
 
 add_sub_impl!(Div, div, ClosedSub;
     (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
-    self: Translation<T, D>, right: Translation<T, D>, Output = Translation<T, D>;
-    #[allow(clippy::suspicious_arithmetic_impl)] { Translation::from(self.vector - right.vector) }; );
+    self: Scale<T, D>, right: Scale<T, D>, Output = Scale<T, D>;
+    #[allow(clippy::suspicious_arithmetic_impl)] { todo!(); }; );
 
-// Translation × Point
+// Scale × Point
 // TODO: we don't handle properly non-zero origins here. Do we want this to be the intended
 // behavior?
 add_sub_impl!(Mul, mul, ClosedAdd;
     (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
-    self: &'a Translation<T, D>, right: &'b Point<T, D>, Output = Point<T, D>;
-    #[allow(clippy::suspicious_arithmetic_impl)] { right + &self.vector };
+    self: &'a Scale<T, D>, right: &'b Point<T, D>, Output = Point<T, D>;
+    #[allow(clippy::suspicious_arithmetic_impl)] { todo!(); };
     'a, 'b);
 
 add_sub_impl!(Mul, mul, ClosedAdd;
     (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
-    self: &'a Translation<T, D>, right: Point<T, D>, Output = Point<T, D>;
-    #[allow(clippy::suspicious_arithmetic_impl)] { right + &self.vector };
+    self: &'a Scale<T, D>, right: Point<T, D>, Output = Point<T, D>;
+    #[allow(clippy::suspicious_arithmetic_impl)] { todo!(); };
     'a);
 
 add_sub_impl!(Mul, mul, ClosedAdd;
     (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
-    self: Translation<T, D>, right: &'b Point<T, D>, Output = Point<T, D>;
-    #[allow(clippy::suspicious_arithmetic_impl)] { right + self.vector };
+    self: Scale<T, D>, right: &'b Point<T, D>, Output = Point<T, D>;
+    #[allow(clippy::suspicious_arithmetic_impl)] { todo!(); };
     'b);
 
 add_sub_impl!(Mul, mul, ClosedAdd;
     (Const<D>, U1), (Const<D>, U1) -> (Const<D>, U1)
     const D; for; where;
-    self: Translation<T, D>, right: Point<T, D>, Output = Point<T, D>;
-    #[allow(clippy::suspicious_arithmetic_impl)] { right + self.vector }; );
+    self: Scale<T, D>, right: Point<T, D>, Output = Point<T, D>;
+    #[allow(clippy::suspicious_arithmetic_impl)] { todo!(); }; );
 
-// Translation *= Translation
+// Scale *= Scale
 add_sub_assign_impl!(MulAssign, mul_assign, ClosedAdd;
     const D;
-    self: Translation<T, D>, right: &'b Translation<T, D>;
-    #[allow(clippy::suspicious_op_assign_impl)] { self.vector += &right.vector };
+    self: Scale<T, D>, right: &'b Scale<T, D>;
+    #[allow(clippy::suspicious_op_assign_impl)] { todo!(); };
     'b);
 
 add_sub_assign_impl!(MulAssign, mul_assign, ClosedAdd;
     const D;
-    self: Translation<T, D>, right: Translation<T, D>;
-    #[allow(clippy::suspicious_op_assign_impl)] { self.vector += right.vector }; );
+    self: Scale<T, D>, right: Scale<T, D>;
+    #[allow(clippy::suspicious_op_assign_impl)] { todo!(); }; );
 
 add_sub_assign_impl!(DivAssign, div_assign, ClosedSub;
     const D;
-    self: Translation<T, D>, right: &'b Translation<T, D>;
-    #[allow(clippy::suspicious_op_assign_impl)] { self.vector -= &right.vector };
+    self: Scale<T, D>, right: &'b Scale<T, D>;
+    #[allow(clippy::suspicious_op_assign_impl)] { todo!(); };
     'b);
 
 add_sub_assign_impl!(DivAssign, div_assign, ClosedSub;
     const D;
-    self: Translation<T, D>, right: Translation<T, D>;
-    #[allow(clippy::suspicious_op_assign_impl)] { self.vector -= right.vector }; );
+    self: Scale<T, D>, right: Scale<T, D>;
+    #[allow(clippy::suspicious_op_assign_impl)] { todo!(); }; );