diff --git a/Makefile b/Makefile
index d616d6ee..c628ff3a 100644
--- a/Makefile
+++ b/Makefile
@@ -4,6 +4,7 @@ all:
 
 test:
 	rust test src/nalgebra.rc
+	rm nalgebratest~
 
 doc:
 	rust test src/nalgebra.rc
diff --git a/src/adaptors/rotmat.rs b/src/adaptors/rotmat.rs
index d1967487..f0dcb42b 100644
--- a/src/adaptors/rotmat.rs
+++ b/src/adaptors/rotmat.rs
@@ -6,6 +6,8 @@ use traits::workarounds::trigonometric::Trigonometric;
 use traits::dim::Dim;
 use traits::inv::Inv;
 use traits::transpose::Transpose;
+use traits::rotation::Rotation;
+use dim1::vec1::{Vec1, vec1};
 use dim2::mat2::{Mat2, mat2};
 use dim3::mat3::{Mat3, mat3};
 use dim3::vec3::{Vec3};
@@ -57,13 +59,40 @@ pub fn rotmat3<T: Copy + Trigonometric + Neg<T> + One + Sub<T, T> + Add<T, T> +
   }
 }
 
-impl<T:Copy + Rand + Trigonometric + Neg<T>> Rand for Rotmat<Mat2<T>>
+impl<T: Quot<T, T> + Trigonometric + Neg<T> + Mul<T, T> + Add<T, T> + Copy>
+Rotation<Vec1<T>> for Rotmat<Mat2<T>>
+{
+  fn rotation(&self) -> Vec1<T>
+  { vec1(-Trigonometric::atan(self.submat.m12 / self.submat.m11)) }
+
+  fn rotated(&self, rot: &Vec1<T>) -> Rotmat<Mat2<T>>
+  { rotmat2(rot.x) * *self }
+
+  fn rotate(&mut self, rot: &Vec1<T>)
+  { *self = self.rotated(rot) }
+}
+
+impl<T: Quot<T, T> + Trigonometric + Neg<T> + Mul<T, T> + Add<T, T> + Copy +
+        One + Sub<T, T>>
+Rotation<(Vec3<T>, T)> for Rotmat<Mat3<T>>
+{
+  fn rotation(&self) -> (Vec3<T>, T)
+  { fail!("Not yet implemented.") }
+
+  fn rotated(&self, &(axis, angle): &(Vec3<T>, T)) -> Rotmat<Mat3<T>>
+  { rotmat3(&axis, angle) * *self }
+
+  fn rotate(&mut self, rot: &(Vec3<T>, T))
+  { *self = self.rotated(rot) }
+}
+
+impl<T: Copy + Rand + Trigonometric + Neg<T>> Rand for Rotmat<Mat2<T>>
 {
   fn rand<R: Rng>(rng: &R) -> Rotmat<Mat2<T>>
   { rotmat2(rng.gen()) }
 }
 
-impl<T:Copy + Rand + Trigonometric + Neg<T> + One + Sub<T, T> + Add<T, T> +
+impl<T: Copy + Rand + Trigonometric + Neg<T> + One + Sub<T, T> + Add<T, T> +
        Mul<T, T>>
 Rand for Rotmat<Mat3<T>>
 {
@@ -77,13 +106,13 @@ impl<M: Dim> Dim for Rotmat<M>
   { Dim::dim::<M>() }
 }
  
-impl<M:Copy + One + Zero> One for Rotmat<M>
+impl<M: Copy + One + Zero> One for Rotmat<M>
 {
   fn one() -> Rotmat<M>
   { Rotmat { submat: One::one() } }
 }
 
-impl<M:Copy + Mul<M, M>> Mul<Rotmat<M>, Rotmat<M>> for Rotmat<M>
+impl<M: Copy + Mul<M, M>> Mul<Rotmat<M>, Rotmat<M>> for Rotmat<M>
 {
   fn mul(&self, other: &Rotmat<M>) -> Rotmat<M>
   { Rotmat { submat: self.submat.mul(&other.submat) } }
@@ -101,7 +130,7 @@ impl<V, M: LMul<V>> LMul<V> for Rotmat<M>
   { self.submat.lmul(other) }
 }
 
-impl<M:Copy + Transpose>
+impl<M: Copy + Transpose>
 Inv for Rotmat<M>
 {
   fn invert(&mut self)
@@ -111,7 +140,7 @@ Inv for Rotmat<M>
   { self.transposed() }
 }
 
-impl<M:Copy + Transpose>
+impl<M: Copy + Transpose>
 Transpose for Rotmat<M>
 {
   fn transposed(&self) -> Rotmat<M>
@@ -121,7 +150,7 @@ Transpose for Rotmat<M>
   { self.submat.transpose() }
 }
 
-impl<T, M:FuzzyEq<T>> FuzzyEq<T> for Rotmat<M>
+impl<T, M: FuzzyEq<T>> FuzzyEq<T> for Rotmat<M>
 {
   fn fuzzy_eq(&self, other: &Rotmat<M>) -> bool
   { self.submat.fuzzy_eq(&other.submat) }
@@ -130,7 +159,7 @@ impl<T, M:FuzzyEq<T>> FuzzyEq<T> for Rotmat<M>
   { self.submat.fuzzy_eq_eps(&other.submat, epsilon) }
 }
 
-impl<M:ToStr> ToStr for Rotmat<M>
+impl<M: ToStr> ToStr for Rotmat<M>
 {
   fn to_str(&self) -> ~str
   { ~"Rotmat {" + " submat: " + self.submat.to_str() + " }" }
diff --git a/src/adaptors/transform.rs b/src/adaptors/transform.rs
index 60b2c278..e8fcab6e 100644
--- a/src/adaptors/transform.rs
+++ b/src/adaptors/transform.rs
@@ -3,6 +3,8 @@ use core::rand::{Rand, Rng, RngUtil};
 use std::cmp::FuzzyEq;
 use traits::dim::Dim;
 use traits::inv::Inv;
+use traits::rotation::Rotation;
+use traits::translation::Translation;
 use traits::transpose::Transpose;
 use traits::workarounds::rlmul::{RMul, LMul};
 
@@ -58,6 +60,30 @@ impl<M: LMul<V>, V> LMul<V> for Transform<M, V>
   { self.submat.lmul(other) }
 }
 
+impl<M: Copy, V: Copy + Translation<V>> Translation<V> for Transform<M, V>
+{
+  fn translation(&self) -> V
+  { self.subtrans.translation() }
+
+  fn translated(&self, t: &V) -> Transform<M, V>
+  { transform(&self.submat, &self.subtrans.translated(t)) }
+
+  fn translate(&mut self, t: &V)
+  { self.subtrans.translate(t) }
+}
+
+impl<M: Rotation<V> + Copy, V: Copy> Rotation<V> for Transform<M, V>
+{
+  fn rotation(&self) -> V
+  { self.submat.rotation() }
+
+  fn rotated(&self, rot: &V) -> Transform<M, V>
+  { transform(&self.submat.rotated(rot), &self.subtrans) }
+
+  fn rotate(&mut self, rot: &V)
+  { self.submat.rotate(rot) }
+}
+
 impl<M:Copy + Transpose + Inv + RMul<V>, V:Copy + Neg<V>>
 Inv for Transform<M, V>
 {
diff --git a/src/dim1/vec1.rs b/src/dim1/vec1.rs
index 05c0c151..b081c0bb 100644
--- a/src/dim1/vec1.rs
+++ b/src/dim1/vec1.rs
@@ -1,10 +1,11 @@
 use core::num::{Zero, One, Algebraic};
 use core::rand::{Rand, Rng, RngUtil};
 use std::cmp::FuzzyEq;
-use traits::dot::Dot;
-use traits::dim::Dim;
 use traits::basis::Basis;
+use traits::dim::Dim;
+use traits::dot::Dot;
 use traits::norm::Norm;
+use traits::translation::Translation;
 use traits::workarounds::scalar_op::{ScalarMul, ScalarDiv, ScalarAdd, ScalarSub};
 
 #[deriving(Eq)]
@@ -73,6 +74,18 @@ ScalarSub<T> for Vec1<T>
   { self.x -= *s; }
 }
 
+impl<T: Copy + Add<T, T>> Translation<Vec1<T>> for Vec1<T>
+{
+  fn translation(&self) -> Vec1<T>
+  { *self }
+
+  fn translated(&self, t: &Vec1<T>) -> Vec1<T>
+  { self + *t }
+
+  fn translate(&mut self, t: &Vec1<T>)
+  { *self += *t }
+}
+
 impl<T:Copy + Mul<T, T> + Add<T, T> + Algebraic> Dot<T> for Vec1<T>
 {
   fn dot(&self, other : &Vec1<T>) -> T
diff --git a/src/dim2/vec2.rs b/src/dim2/vec2.rs
index 2b40e694..8798584e 100644
--- a/src/dim2/vec2.rs
+++ b/src/dim2/vec2.rs
@@ -1,12 +1,13 @@
 use core::num::{Zero, One, Algebraic};
 use core::rand::{Rand, Rng, RngUtil};
-use std::cmp::FuzzyEq;
-use traits::dot::Dot;
-use traits::dim::Dim;
-use traits::cross::Cross;
-use traits::basis::Basis;
-use traits::norm::Norm;
 use dim1::vec1::{Vec1, vec1};
+use std::cmp::FuzzyEq;
+use traits::basis::Basis;
+use traits::cross::Cross;
+use traits::dim::Dim;
+use traits::dot::Dot;
+use traits::norm::Norm;
+use traits::translation::Translation;
 use traits::workarounds::scalar_op::{ScalarMul, ScalarDiv, ScalarAdd, ScalarSub};
 
 #[deriving(Eq)]
@@ -90,6 +91,18 @@ ScalarSub<T> for Vec2<T>
   }
 }
 
+impl<T: Copy + Add<T, T>> Translation<Vec2<T>> for Vec2<T>
+{
+  fn translation(&self) -> Vec2<T>
+  { *self }
+
+  fn translated(&self, t: &Vec2<T>) -> Vec2<T>
+  { self + *t }
+
+  fn translate(&mut self, t: &Vec2<T>)
+  { *self += *t; }
+}
+
 impl<T:Copy + Mul<T, T> + Add<T, T> + Algebraic> Dot<T> for Vec2<T>
 {
   fn dot(&self, other : &Vec2<T>) -> T
diff --git a/src/dim3/vec3.rs b/src/dim3/vec3.rs
index b2b14028..074c3781 100644
--- a/src/dim3/vec3.rs
+++ b/src/dim3/vec3.rs
@@ -1,11 +1,12 @@
 use core::num::{Zero, One, Algebraic, abs};
 use core::rand::{Rand, Rng, RngUtil};
 use std::cmp::FuzzyEq;
+use traits::basis::Basis;
+use traits::cross::Cross;
 use traits::dim::Dim;
 use traits::dot::Dot;
-use traits::cross::Cross;
-use traits::basis::Basis;
 use traits::norm::Norm;
+use traits::translation::Translation;
 use traits::workarounds::scalar_op::{ScalarMul, ScalarDiv, ScalarAdd, ScalarSub};
 
 #[deriving(Eq)]
@@ -94,6 +95,19 @@ ScalarSub<T> for Vec3<T>
   }
 }
 
+impl<T: Copy + Add<T, T>> Translation<Vec3<T>> for Vec3<T>
+{
+  fn translation(&self) -> Vec3<T>
+  { *self }
+
+  fn translated(&self, t: &Vec3<T>) -> Vec3<T>
+  { self + *t }
+
+  fn translate(&mut self, t: &Vec3<T>)
+  { *self += *t; }
+}
+
+
 
 impl<T:Copy + Neg<T>> Neg<Vec3<T>> for Vec3<T>
 {
diff --git a/src/nalgebra.rc b/src/nalgebra.rc
index bccf2890..6e5ec61a 100644
--- a/src/nalgebra.rc
+++ b/src/nalgebra.rc
@@ -46,6 +46,8 @@ mod traits
   mod dim;
   mod basis;
   mod norm;
+  mod rotation;
+  mod translation;
 
   mod workarounds
   {
diff --git a/src/ndim/nvec.rs b/src/ndim/nvec.rs
index a226abef..536cf8e8 100644
--- a/src/ndim/nvec.rs
+++ b/src/ndim/nvec.rs
@@ -2,10 +2,11 @@ use core::num::{Zero, One, Algebraic};
 use core::rand::{Rand, Rng, RngUtil};
 use core::vec::{map_zip, from_elem, map, all, all2};
 use std::cmp::FuzzyEq;
+use traits::basis::Basis;
 use traits::dim::Dim;
 use traits::dot::Dot;
 use traits::norm::Norm;
-use traits::basis::Basis;
+use traits::translation::Translation;
 use traits::workarounds::scalar_op::{ScalarMul, ScalarDiv, ScalarAdd, ScalarSub};
 
 // D is a phantom parameter, used only as a dimensional token.
@@ -118,6 +119,18 @@ ScalarSub<T> for NVec<D, T>
   }
 }
 
+impl<D: Dim, T: Clone + Copy + Add<T, T>> Translation<NVec<D, T>> for NVec<D, T>
+{
+  fn translation(&self) -> NVec<D, T>
+  { self.clone() }
+
+  fn translated(&self, t: &NVec<D, T>) -> NVec<D, T>
+  { self + *t }
+
+  fn translate(&mut self, t: &NVec<D, T>)
+  { *self = *self + *t; }
+}
+
 impl<D: Dim, T: Copy + Mul<T, T> + Add<T, T> + Quot<T, T> + Algebraic + Zero +
                 Clone>
 Norm<T> for NVec<D, T>
diff --git a/src/traits/rotation.rs b/src/traits/rotation.rs
new file mode 100644
index 00000000..7a0307d3
--- /dev/null
+++ b/src/traits/rotation.rs
@@ -0,0 +1,6 @@
+pub trait Rotation<V>
+{
+  fn rotation(&self)   -> V;
+  fn rotated(&self, &V) -> Self;
+  fn rotate(&mut self, &V);
+}
diff --git a/src/traits/translation.rs b/src/traits/translation.rs
new file mode 100644
index 00000000..1e1e58ae
--- /dev/null
+++ b/src/traits/translation.rs
@@ -0,0 +1,6 @@
+pub trait Translation<V>
+{
+  fn translation(&self)   -> V;
+  fn translated(&self, &V) -> Self;
+  fn translate(&mut self, &V);
+}
diff --git a/src/traits/workarounds/trigonometric.rs b/src/traits/workarounds/trigonometric.rs
index 7902a052..9f28abd8 100644
--- a/src/traits/workarounds/trigonometric.rs
+++ b/src/traits/workarounds/trigonometric.rs
@@ -1,12 +1,13 @@
 // Trigonometric is available in core, but compilation fails with internal
 // error.
 
-use core::f64::{cos, sin};
+use core::f64::{cos, sin, atan};
 
 pub trait Trigonometric
 {
-  fn cos(Self) -> Self;
-  fn sin(Self) -> Self;
+  fn cos(Self)  -> Self;
+  fn sin(Self)  -> Self;
+  fn atan(Self) -> Self;
 }
 
 impl Trigonometric for f64
@@ -16,4 +17,7 @@ impl Trigonometric for f64
 
   fn sin(a: f64) -> f64
   { sin(a) }
+
+  fn atan(a: f64) -> f64
+  { atan(a) }
 }