diff --git a/.readthedocs.yml b/.readthedocs.yml
index a2be310..610c5c8 100644
--- a/.readthedocs.yml
+++ b/.readthedocs.yml
@@ -10,5 +10,5 @@ python:
       path: .
       extra_requirements:
         - mkdocs
-        - mktheapidocs
+        - mkapi
         - pymdown-extensions
diff --git a/README.md b/README.md
index d839f45..99ec2fb 100644
--- a/README.md
+++ b/README.md
@@ -161,7 +161,7 @@ from other representations of rotations, including
 
    * `to_rotation_matrix`, `from_rotation_matrix`
    * `to_transformation_matrix` (for non-unit quaternions)
-   * `to_axis_angle`, `from_axis_angle` representation
+   * `to_axis_angle`, `from_axis_angle`
    * `to_euler_angles`, `from_euler_angles` (though using Euler angles is almost always a bad idea)
    * `to_spherical_coordinates`, `from_spherical_coordinates`
    * `to_angular_velocity`, `from_angular_velocity`
@@ -200,7 +200,7 @@ np.max(quaternionic.distance.rotation.intrinsic(q1, q2))  # Typically around 1e-
 
 ## Distance functions
 
-The `quaternionic.distance` contains four distance functions:
+The `quaternionic.distance` module contains four distance functions:
 
   * `rotor.intrinsic`
   * `rotor.chordal`
diff --git a/mkdocs.yml b/mkdocs.yml
index 94f5833..81b749d 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -3,11 +3,12 @@ site_name: quaternionic
 repo_url: https://github.com/moble/quaternionic
 
 plugins:
-  - mktheapidocs:
-      modules:
-        quaternionic:
-          section: api
-          source_repo: "https://github.com/moble/quaternionic/blob/master"
+  - search
+  - mkapi
+
+nav:
+  - index.md
+  - API: mkapi/api/quaternionic
 
 theme:
   name: 'readthedocs'
@@ -16,5 +17,7 @@ extra_javascript:
   - https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-svg.js
 
 markdown_extensions:
+  - toc:
+      permalink: "#"
   - pymdownx.arithmatex:
       generic: true
diff --git a/poetry.lock b/poetry.lock
index 466afb9..0e0225f 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,11 +1,3 @@
-[[package]]
-category = "main"
-description = "A configurable sidebar-enabled Sphinx theme"
-name = "alabaster"
-optional = true
-python-versions = "*"
-version = "0.7.12"
-
 [[package]]
 category = "main"
 description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
@@ -36,17 +28,6 @@ docs = ["sphinx", "sphinx-rtd-theme", "zope.interface"]
 tests = ["coverage (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "zope.interface"]
 tests_no_zope = ["coverage (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six"]
 
-[[package]]
-category = "main"
-description = "Internationalization utilities"
-name = "babel"
-optional = true
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "2.8.0"
-
-[package.dependencies]
-pytz = ">=2015.7"
-
 [[package]]
 category = "main"
 description = "The uncompromising code formatter."
@@ -70,22 +51,6 @@ dataclasses = {version = ">=0.6", markers = "python_version < \"3.7\""}
 colorama = ["colorama (>=0.4.3)"]
 d = ["aiohttp (>=3.3.2)", "aiohttp-cors"]
 
-[[package]]
-category = "main"
-description = "Python package for providing Mozilla's CA Bundle."
-name = "certifi"
-optional = true
-python-versions = "*"
-version = "2020.6.20"
-
-[[package]]
-category = "main"
-description = "Universal encoding detector for Python 2 and 3"
-name = "chardet"
-optional = true
-python-versions = "*"
-version = "3.0.4"
-
 [[package]]
 category = "main"
 description = "Composable command line interface toolkit"
@@ -95,12 +60,12 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 version = "7.1.2"
 
 [[package]]
-category = "main"
+category = "dev"
 description = "Cross-platform colored terminal text."
 name = "colorama"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-version = "0.4.3"
+version = "0.4.4"
 
 [[package]]
 category = "dev"
@@ -108,7 +73,7 @@ description = "Code coverage measurement for Python"
 name = "coverage"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, <4"
-version = "5.2.1"
+version = "5.3"
 
 [package.extras]
 toml = ["toml"]
@@ -121,14 +86,6 @@ optional = true
 python-versions = ">=3.6, <3.7"
 version = "0.7"
 
-[[package]]
-category = "main"
-description = "Docutils -- Python Documentation Utilities"
-name = "docutils"
-optional = true
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-version = "0.16"
-
 [[package]]
 category = "main"
 description = "Clean single-source support for Python 3 and 2"
@@ -137,22 +94,6 @@ optional = true
 python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
 version = "0.18.2"
 
-[[package]]
-category = "main"
-description = "Internationalized Domain Names in Applications (IDNA)"
-name = "idna"
-optional = true
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "2.10"
-
-[[package]]
-category = "main"
-description = "Getting image size from png/jpeg/jpeg2000/gif file"
-name = "imagesize"
-optional = true
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-version = "1.2.0"
-
 [[package]]
 category = "main"
 description = "Read metadata from Python packages"
@@ -174,7 +115,7 @@ description = "iniconfig: brain-dead simple config-ini parsing"
 name = "iniconfig"
 optional = false
 python-versions = "*"
-version = "1.0.1"
+version = "1.1.1"
 
 [[package]]
 category = "main"
@@ -196,7 +137,7 @@ description = "Lightweight pipelining: using Python functions as pipeline jobs."
 name = "joblib"
 optional = true
 python-versions = ">=3.6"
-version = "0.16.0"
+version = "0.17.0"
 
 [[package]]
 category = "main"
@@ -239,8 +180,8 @@ category = "main"
 description = "Python implementation of Markdown."
 name = "markdown"
 optional = true
-python-versions = ">=3.5"
-version = "3.2.2"
+python-versions = ">=3.6"
+version = "3.3.2"
 
 [package.dependencies]
 importlib-metadata = {version = "*", markers = "python_version < \"3.8\""}
@@ -256,6 +197,18 @@ optional = true
 python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*"
 version = "1.1.1"
 
+[[package]]
+category = "main"
+description = "An Auto API Documentation tool."
+name = "mkapi"
+optional = true
+python-versions = ">=3.7"
+version = "1.0.13"
+
+[package.dependencies]
+jinja2 = "*"
+markdown = "*"
+
 [[package]]
 category = "main"
 description = "Project documentation with Markdown."
@@ -273,30 +226,6 @@ livereload = ">=2.5.1"
 tornado = ">=5.0"
 lunr = {version = "0.5.8", extras = ["languages"]}
 
-[[package]]
-category = "main"
-description = "Generate markdown API documentation from Numpydoc docstrings."
-name = "mktheapidocs"
-optional = true
-python-versions = "*"
-version = "0.2.0.post0.dev8"
-
-[package.dependencies]
-black = "*"
-click = "*"
-numpydoc = "*"
-
-[package.extras]
-plugin = ["mkdocs (>=1.1)"]
-
-[[package]]
-category = "dev"
-description = "More routines for operating on iterables, beyond itertools"
-name = "more-itertools"
-optional = false
-python-versions = ">=3.5"
-version = "8.5.0"
-
 [[package]]
 category = "main"
 description = "Experimental type system extensions for programs checked with the mypy typechecker."
@@ -345,25 +274,10 @@ description = "NumPy is the fundamental package for array computing with Python.
 name = "numpy"
 optional = false
 python-versions = ">=3.6"
-version = "1.19.1"
-
-[[package]]
-category = "main"
-description = "Sphinx extension to support docstrings in Numpy format"
-name = "numpydoc"
-optional = true
-python-versions = ">=3.5"
-version = "1.1.0"
-
-[package.dependencies]
-Jinja2 = ">=2.3"
-sphinx = ">=1.6.5"
-
-[package.extras]
-testing = ["matplotlib", "pytest", "pytest-cov"]
+version = "1.19.2"
 
 [[package]]
-category = "main"
+category = "dev"
 description = "Core utilities for Python packages"
 name = "packaging"
 optional = false
@@ -404,27 +318,19 @@ optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 version = "1.9.0"
 
-[[package]]
-category = "main"
-description = "Pygments is a syntax highlighting package written in Python."
-name = "pygments"
-optional = true
-python-versions = ">=3.5"
-version = "2.6.1"
-
 [[package]]
 category = "main"
 description = "Extension pack for Python Markdown."
 name = "pymdown-extensions"
 optional = true
-python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*"
-version = "8.0"
+python-versions = ">=3.5"
+version = "8.0.1"
 
 [package.dependencies]
 Markdown = ">=3.2"
 
 [[package]]
-category = "main"
+category = "dev"
 description = "Python parsing module"
 name = "pyparsing"
 optional = false
@@ -437,12 +343,11 @@ description = "pytest: simple powerful testing with Python"
 name = "pytest"
 optional = false
 python-versions = ">=3.5"
-version = "6.0.1"
+version = "6.1.1"
 
 [package.dependencies]
 attrs = ">=17.4.0"
 iniconfig = "*"
-more-itertools = ">=4.0.0"
 packaging = "*"
 pluggy = ">=0.12,<1.0"
 py = ">=1.8.2"
@@ -470,14 +375,6 @@ pytest = ">=4.6"
 [package.extras]
 testing = ["fields", "hunter", "process-tests (2.0.2)", "six", "pytest-xdist", "virtualenv"]
 
-[[package]]
-category = "main"
-description = "World timezone definitions, modern and historical"
-name = "pytz"
-optional = true
-python-versions = "*"
-version = "2020.1"
-
 [[package]]
 category = "main"
 description = "YAML parser and emitter for Python"
@@ -492,25 +389,7 @@ description = "Alternative regular expression module, to replace re."
 name = "regex"
 optional = true
 python-versions = "*"
-version = "2020.7.14"
-
-[[package]]
-category = "main"
-description = "Python HTTP for Humans."
-name = "requests"
-optional = true
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-version = "2.24.0"
-
-[package.dependencies]
-certifi = ">=2017.4.17"
-chardet = ">=3.0.2,<4"
-idna = ">=2.5,<3"
-urllib3 = ">=1.21.1,<1.25.0 || >1.25.0,<1.25.1 || >1.25.1,<1.26"
-
-[package.extras]
-security = ["pyOpenSSL (>=0.14)", "cryptography (>=1.3.4)"]
-socks = ["PySocks (>=1.5.6,<1.5.7 || >1.5.7)", "win-inet-pton"]
+version = "2020.10.15"
 
 [[package]]
 category = "main"
@@ -518,7 +397,7 @@ description = "SciPy: Scientific Library for Python"
 name = "scipy"
 optional = false
 python-versions = ">=3.6"
-version = "1.5.2"
+version = "1.5.3"
 
 [package.dependencies]
 numpy = ">=1.14.5"
@@ -531,116 +410,6 @@ optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
 version = "1.15.0"
 
-[[package]]
-category = "main"
-description = "This package provides 26 stemmers for 25 languages generated from Snowball algorithms."
-name = "snowballstemmer"
-optional = true
-python-versions = "*"
-version = "2.0.0"
-
-[[package]]
-category = "main"
-description = "Python documentation generator"
-name = "sphinx"
-optional = true
-python-versions = ">=3.5"
-version = "3.2.1"
-
-[package.dependencies]
-Jinja2 = ">=2.3"
-Pygments = ">=2.0"
-alabaster = ">=0.7,<0.8"
-babel = ">=1.3"
-docutils = ">=0.12"
-imagesize = "*"
-packaging = "*"
-requests = ">=2.5.0"
-snowballstemmer = ">=1.1"
-sphinxcontrib-applehelp = "*"
-sphinxcontrib-devhelp = "*"
-sphinxcontrib-htmlhelp = "*"
-sphinxcontrib-jsmath = "*"
-sphinxcontrib-qthelp = "*"
-sphinxcontrib-serializinghtml = "*"
-colorama = {version = ">=0.3.5", markers = "sys_platform == \"win32\""}
-
-[package.extras]
-docs = ["sphinxcontrib-websupport"]
-lint = ["flake8 (>=3.5.0)", "flake8-import-order", "mypy (>=0.780)", "docutils-stubs"]
-test = ["pytest", "pytest-cov", "html5lib", "typed-ast", "cython"]
-
-[[package]]
-category = "main"
-description = "sphinxcontrib-applehelp is a sphinx extension which outputs Apple help books"
-name = "sphinxcontrib-applehelp"
-optional = true
-python-versions = ">=3.5"
-version = "1.0.2"
-
-[package.extras]
-lint = ["flake8", "mypy", "docutils-stubs"]
-test = ["pytest"]
-
-[[package]]
-category = "main"
-description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp document."
-name = "sphinxcontrib-devhelp"
-optional = true
-python-versions = ">=3.5"
-version = "1.0.2"
-
-[package.extras]
-lint = ["flake8", "mypy", "docutils-stubs"]
-test = ["pytest"]
-
-[[package]]
-category = "main"
-description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
-name = "sphinxcontrib-htmlhelp"
-optional = true
-python-versions = ">=3.5"
-version = "1.0.3"
-
-[package.extras]
-lint = ["flake8", "mypy", "docutils-stubs"]
-test = ["pytest", "html5lib"]
-
-[[package]]
-category = "main"
-description = "A sphinx extension which renders display math in HTML via JavaScript"
-name = "sphinxcontrib-jsmath"
-optional = true
-python-versions = ">=3.5"
-version = "1.0.1"
-
-[package.extras]
-test = ["pytest", "flake8", "mypy"]
-
-[[package]]
-category = "main"
-description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp document."
-name = "sphinxcontrib-qthelp"
-optional = true
-python-versions = ">=3.5"
-version = "1.0.3"
-
-[package.extras]
-lint = ["flake8", "mypy", "docutils-stubs"]
-test = ["pytest"]
-
-[[package]]
-category = "main"
-description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)."
-name = "sphinxcontrib-serializinghtml"
-optional = true
-python-versions = ">=3.5"
-version = "1.1.4"
-
-[package.extras]
-lint = ["flake8", "mypy", "docutils-stubs"]
-test = ["pytest"]
-
 [[package]]
 category = "main"
 description = "Python Library for Tom's Obvious, Minimal Language"
@@ -663,7 +432,7 @@ description = "Fast, Extensible Progress Meter"
 name = "tqdm"
 optional = true
 python-versions = ">=2.6, !=3.0.*, !=3.1.*"
-version = "4.48.2"
+version = "4.50.2"
 
 [package.extras]
 dev = ["py-make (>=0.1.0)", "twine", "argopt", "pydoc-markdown"]
@@ -684,46 +453,29 @@ optional = true
 python-versions = "*"
 version = "3.7.4.3"
 
-[[package]]
-category = "main"
-description = "HTTP library with thread-safe connection pooling, file post, and more."
-name = "urllib3"
-optional = true
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, <4"
-version = "1.25.10"
-
-[package.extras]
-brotli = ["brotlipy (>=0.6.0)"]
-secure = ["certifi", "cryptography (>=1.3.4)", "idna (>=2.0.0)", "pyOpenSSL (>=0.14)", "ipaddress"]
-socks = ["PySocks (>=1.5.6,<1.5.7 || >1.5.7,<2.0)"]
-
 [[package]]
 category = "main"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 name = "zipp"
 optional = false
 python-versions = ">=3.6"
-version = "3.1.0"
+version = "3.3.1"
 
 [package.extras]
 docs = ["sphinx", "jaraco.packaging (>=3.2)", "rst.linker (>=1.9)"]
-testing = ["jaraco.itertools", "func-timeout"]
+testing = ["pytest (>=3.5,<3.7.3 || >3.7.3)", "pytest-checkdocs (>=1.2.3)", "pytest-flake8", "pytest-cov", "jaraco.test (>=3.2.0)", "jaraco.itertools", "func-timeout", "pytest-black (>=0.3.7)", "pytest-mypy"]
 
 [extras]
+mkapi = ["mkapi"]
 mkdocs = ["mkdocs"]
-mktheapidocs = ["mktheapidocs"]
 pymdown-extensions = ["pymdown-extensions"]
 
 [metadata]
-content-hash = "78fa0e633675314ac919cc39d07428be672060d692f21cbc13a04593d35960ad"
+content-hash = "78994956d1d0bb2c4fb4a21a86b17bb2a25c75d019b81d092f55151c63957ca8"
 lock-version = "1.1"
 python-versions = "^3.6"
 
 [metadata.files]
-alabaster = [
-    {file = "alabaster-0.7.12-py2.py3-none-any.whl", hash = "sha256:446438bdcca0e05bd45ea2de1668c1d9b032e1a9154c2c259092d77031ddd359"},
-    {file = "alabaster-0.7.12.tar.gz", hash = "sha256:a661d72d58e6ea8a57f7a86e37d86716863ee5e92788398526d58b26a4e4dc02"},
-]
 appdirs = [
     {file = "appdirs-1.4.4-py2.py3-none-any.whl", hash = "sha256:a841dacd6b99318a741b166adb07e19ee71a274450e68237b4650ca1055ab128"},
     {file = "appdirs-1.4.4.tar.gz", hash = "sha256:7d5d0167b2b1ba821647616af46a749d1c653740dd0d2415100fe26e27afdf41"},
@@ -736,100 +488,75 @@ attrs = [
     {file = "attrs-20.2.0-py2.py3-none-any.whl", hash = "sha256:fce7fc47dfc976152e82d53ff92fa0407700c21acd20886a13777a0d20e655dc"},
     {file = "attrs-20.2.0.tar.gz", hash = "sha256:26b54ddbbb9ee1d34d5d3668dd37d6cf74990ab23c828c2888dccdceee395594"},
 ]
-babel = [
-    {file = "Babel-2.8.0-py2.py3-none-any.whl", hash = "sha256:d670ea0b10f8b723672d3a6abeb87b565b244da220d76b4dba1b66269ec152d4"},
-    {file = "Babel-2.8.0.tar.gz", hash = "sha256:1aac2ae2d0d8ea368fa90906567f5c08463d98ade155c0c4bfedd6a0f7160e38"},
-]
 black = [
-    {file = "black-20.8b1-py3-none-any.whl", hash = "sha256:70b62ef1527c950db59062cda342ea224d772abdf6adc58b86a45421bab20a6b"},
     {file = "black-20.8b1.tar.gz", hash = "sha256:1c02557aa099101b9d21496f8a914e9ed2222ef70336404eeeac8edba836fbea"},
 ]
-certifi = [
-    {file = "certifi-2020.6.20-py2.py3-none-any.whl", hash = "sha256:8fc0819f1f30ba15bdb34cceffb9ef04d99f420f68eb75d901e9560b8749fc41"},
-    {file = "certifi-2020.6.20.tar.gz", hash = "sha256:5930595817496dd21bb8dc35dad090f1c2cd0adfaf21204bf6732ca5d8ee34d3"},
-]
-chardet = [
-    {file = "chardet-3.0.4-py2.py3-none-any.whl", hash = "sha256:fc323ffcaeaed0e0a02bf4d117757b98aed530d9ed4531e3e15460124c106691"},
-    {file = "chardet-3.0.4.tar.gz", hash = "sha256:84ab92ed1c4d4f16916e05906b6b75a6c0fb5db821cc65e70cbd64a3e2a5eaae"},
-]
 click = [
     {file = "click-7.1.2-py2.py3-none-any.whl", hash = "sha256:dacca89f4bfadd5de3d7489b7c8a566eee0d3676333fbb50030263894c38c0dc"},
     {file = "click-7.1.2.tar.gz", hash = "sha256:d2b5255c7c6349bc1bd1e59e08cd12acbbd63ce649f2588755783aa94dfb6b1a"},
 ]
 colorama = [
-    {file = "colorama-0.4.3-py2.py3-none-any.whl", hash = "sha256:7d73d2a99753107a36ac6b455ee49046802e59d9d076ef8e47b61499fa29afff"},
-    {file = "colorama-0.4.3.tar.gz", hash = "sha256:e96da0d330793e2cb9485e9ddfd918d456036c7149416295932478192f4436a1"},
+    {file = "colorama-0.4.4-py2.py3-none-any.whl", hash = "sha256:9f47eda37229f68eee03b24b9748937c7dc3868f906e8ba69fbcbdd3bc5dc3e2"},
+    {file = "colorama-0.4.4.tar.gz", hash = "sha256:5941b2b48a20143d2267e95b1c2a7603ce057ee39fd88e7329b0c292aa16869b"},
 ]
 coverage = [
-    {file = "coverage-5.2.1-cp27-cp27m-macosx_10_13_intel.whl", hash = "sha256:40f70f81be4d34f8d491e55936904db5c527b0711b2a46513641a5729783c2e4"},
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@@ -1113,8 +798,8 @@ tornado = [
     {file = "tornado-6.0.4.tar.gz", hash = "sha256:0fe2d45ba43b00a41cd73f8be321a44936dc1aba233dee979f17a042b83eb6dc"},
 ]
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-    {file = "tqdm-4.48.2.tar.gz", hash = "sha256:564d632ea2b9cb52979f7956e093e831c28d441c11751682f84c86fc46e4fd21"},
+    {file = "tqdm-4.50.2-py2.py3-none-any.whl", hash = "sha256:43ca183da3367578ebf2f1c2e3111d51ea161ed1dc4e6345b86e27c2a93beff7"},
+    {file = "tqdm-4.50.2.tar.gz", hash = "sha256:69dfa6714dee976e2425a9aab84b622675b7b1742873041e3db8a8e86132a4af"},
 ]
 typed-ast = [
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@@ -1144,11 +829,7 @@ typing-extensions = [
     {file = "typing_extensions-3.7.4.3-py3-none-any.whl", hash = "sha256:7cb407020f00f7bfc3cb3e7881628838e69d8f3fcab2f64742a5e76b2f841918"},
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 ]
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-    {file = "urllib3-1.25.10.tar.gz", hash = "sha256:91056c15fa70756691db97756772bb1eb9678fa585d9184f24534b100dc60f4a"},
-]
 zipp = [
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+    {file = "zipp-3.3.1-py3-none-any.whl", hash = "sha256:16522f69653f0d67be90e8baa4a46d66389145b734345d68a257da53df670903"},
+    {file = "zipp-3.3.1.tar.gz", hash = "sha256:c1532a8030c32fd52ff6a288d855fe7adef5823ba1d26a29a68fd6314aa72baa"},
 ]
diff --git a/pyproject.toml b/pyproject.toml
index 66d3964..5c4ed94 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -16,8 +16,8 @@ scipy = "^1.0"
 numba = {version = ">=0.50", markers = "implementation_name == 'cpython'"}
 mkdocs = {version = ">=1.1.2", optional = true, markers = "implementation_name == 'cpython'"}
 black = {version = ">=20.8b1", optional = true, markers = "implementation_name == 'cpython'"}
-mktheapidocs = {version = ">=0.2", optional = true, markers = "implementation_name == 'cpython'"}
 pymdown-extensions = {version = "^8", optional = true, markers = "implementation_name == 'cpython'"}
+mkapi = {version = "^1.0.13", optional = true, python = ">=3.7"}
 
 [tool.poetry.dev-dependencies]
 pytest = "^6.0"
@@ -25,7 +25,7 @@ pytest-cov = ">=2.10.1"
 
 [tool.poetry.extras]
 mkdocs = ["mkdocs"]
-mktheapidocs = ["mktheapidocs"]
+mkapi = ["mkapi"]
 pymdown-extensions = ["pymdown-extensions"]
 
 [tool.black]
diff --git a/quaternionic/__init__.py b/quaternionic/__init__.py
index eecd194..bdf527f 100644
--- a/quaternionic/__init__.py
+++ b/quaternionic/__init__.py
@@ -2,6 +2,17 @@
 # See LICENSE file for details:
 # <https://github.com/moble/quaternionic/blob/master/LICENSE>
 
+"""Quaternionic arrays.
+
+This module subclasses numpy's array type, interpreting the array as an array
+of quaternions, and accelerating the algebra using numba.  This enables natural
+manipulations, like multiplying quaternions as `a*b`, while also working with
+standard numpy functions, as in `np.log(q)`.  There is also basic initial
+support for symbolic manipulation of quaternions by creating quaternionic
+arrays with sympy symbols as elements, though this is a work in progress.
+
+"""
+
 try:
     import importlib.metadata as importlib_metadata
 except ModuleNotFoundError:  # pragma: no cover
diff --git a/quaternionic/algebra.py b/quaternionic/algebra.py
index a1e9624..3e8fd43 100644
--- a/quaternionic/algebra.py
+++ b/quaternionic/algebra.py
@@ -4,6 +4,12 @@
 
 """Essential functions for quaternion algebra.
 
+***NOTE***: You probably don't need to call these functions directly; these are
+automatically called when using `quaternionic.array` objects naturally.  For
+example, if you have arrays `q1` and `q2`, you can add them with `q1 + q2`,
+multiply them with `q1 * q2`, take an exponential with `np.exp(q1)` or a
+logarithm with `np.log(q1)`, etc.
+
 These functions form the basic algebraic behavior of quaternions — addition,
 multiplication, exp, log, etc.
 
@@ -45,7 +51,7 @@
 
 @attach_typelist_and_signature([(float64[:], float64[:], float64[:])], '(n),(n)->(n)')
 def add(q1, q2, qout):
-    """Add two quaternions q1+q2"""
+    """Add two quaternions `q1+q2`"""
     qout[0] = q1[0] + q2[0]
     qout[1] = q1[1] + q2[1]
     qout[2] = q1[2] + q2[2]
@@ -54,7 +60,7 @@ def add(q1, q2, qout):
 
 @attach_typelist_and_signature([(float64[:], float64[:], float64[:])], '(n),(n)->(n)')
 def subtract(q1, q2, qout):
-    """Subtract quaternion q1-q2"""
+    """Subtract quaternion `q1-q2`"""
     qout[0] = q1[0] - q2[0]
     qout[1] = q1[1] - q2[1]
     qout[2] = q1[2] - q2[2]
@@ -63,7 +69,7 @@ def subtract(q1, q2, qout):
 
 @attach_typelist_and_signature([(float64[:], float64[:], float64[:])], '(n),(n)->(n)')
 def multiply(q1, q2, qout):
-    """Multiply quaternions q1*q2"""
+    """Multiply quaternions `q1*q2`"""
     qout[0] = q1[0]*q2[0] - q1[1]*q2[1] - q1[2]*q2[2] - q1[3]*q2[3]
     qout[1] = q1[0]*q2[1] + q1[1]*q2[0] + q1[2]*q2[3] - q1[3]*q2[2]
     qout[2] = q1[0]*q2[2] - q1[1]*q2[3] + q1[2]*q2[0] + q1[3]*q2[1]
@@ -72,7 +78,7 @@ def multiply(q1, q2, qout):
 
 @attach_typelist_and_signature([(float64[:], float64[:], float64[:])], '(n),(n)->(n)')
 def divide(q1, q2, qout):
-    """Divide quaternions q1/q2 = q1 * q2.inverse"""
+    """Divide quaternions `q1/q2` = `q1 * q2.inverse`"""
     q2norm = q2[0]**2 + q2[1]**2 + q2[2]**2 + q2[3]**2
     qout[0] = (+q1[0]*q2[0] + q1[1]*q2[1] + q1[2]*q2[2] + q1[3]*q2[3]) / q2norm
     qout[1] = (-q1[0]*q2[1] + q1[1]*q2[0] - q1[2]*q2[3] + q1[3]*q2[2]) / q2norm
@@ -85,7 +91,7 @@ def divide(q1, q2, qout):
 
 @attach_typelist_and_signature([(float64, float64[:], float64[:])], '(),(n)->(n)')
 def multiply_scalar(s, q, qout):
-    """Multiply scalar by quaternion s*q"""
+    """Multiply scalar by quaternion `s*q`"""
     qout[0] = s * q[0]
     qout[1] = s * q[1]
     qout[2] = s * q[2]
@@ -94,7 +100,7 @@ def multiply_scalar(s, q, qout):
 
 @attach_typelist_and_signature([(float64, float64[:], float64[:])], '(),(n)->(n)')
 def divide_scalar(s, q, qout):
-    """Divide scalar by quaternion s/q = s * q.inverse"""
+    """Divide scalar by quaternion `s/q` = `s * q.inverse`"""
     qnorm = q[0]**2 + q[1]**2 + q[2]**2 + q[3]**2
     qout[0] = s * q[0] / qnorm
     qout[1] = -s * q[1] / qnorm
@@ -107,7 +113,7 @@ def divide_scalar(s, q, qout):
 
 @attach_typelist_and_signature([(float64[:], float64, float64[:])], '(n),()->(n)')
 def scalar_multiply(q, s, qout):
-    """Multiply quaternion by scalar q*s"""
+    """Multiply quaternion by scalar `q*s`"""
     qout[0] = q[0] * s
     qout[1] = q[1] * s
     qout[2] = q[2] * s
@@ -116,7 +122,7 @@ def scalar_multiply(q, s, qout):
 
 @attach_typelist_and_signature([(float64[:], float64, float64[:])], '(n),()->(n)')
 def scalar_divide(q, s, qout):
-    """Divide quaternion by scalar q/s"""
+    """Divide quaternion by scalar `q/s`"""
     qout[0] = q[0] / s
     qout[1] = q[1] / s
     qout[2] = q[2] / s
@@ -128,7 +134,7 @@ def scalar_divide(q, s, qout):
 
 @attach_typelist_and_signature([(float64[:], float64[:])], '(n)->(n)')
 def negative(q, qout):
-    """Return negative quaternion -q"""
+    """Return negative quaternion `-q`"""
     qout[0] = -q[0]
     qout[1] = -q[1]
     qout[2] = -q[2]
@@ -137,7 +143,7 @@ def negative(q, qout):
 
 @attach_typelist_and_signature([(float64[:], float64[:])], '(n)->(n)')
 def positive(q, qout):
-    """Return input quaternion q"""
+    """Return input quaternion"""
     qout[0] = q[0]
     qout[1] = q[1]
     qout[2] = q[2]
@@ -146,7 +152,7 @@ def positive(q, qout):
 
 @attach_typelist_and_signature([(float64[:], float64, float64[:])], '(n),()->(n)')
 def float_power(q, s, qout):
-    """Raise quaternion to scalar power exp(log(q)*s)"""
+    """Raise quaternion to scalar power `exp(log(q)*s)`"""
     b = np.sqrt(q[1]**2 + q[2]**2 + q[3]**2)
     if np.abs(b) <= _quaternion_resolution * np.abs(q[0]):
         if q[0] < 0.0:
@@ -205,7 +211,7 @@ def conj(q, qout):
 
 @attach_typelist_and_signature([(float64[:], float64[:])], '(n)->(n)')
 def exp(q, qout):
-    """Return exponential of input quaternion exp(q)"""
+    """Return exponential of input quaternion"""
     vnorm = np.sqrt(q[1]**2 + q[2]**2 + q[3]**2)
     if vnorm > _quaternion_resolution:
         s = np.sin(vnorm) / vnorm
@@ -223,7 +229,7 @@ def exp(q, qout):
 
 @attach_typelist_and_signature([(float64[:], float64[:])], '(n)->(n)')
 def log(q, qout):
-    """Return logarithm of input quaternion log(q)"""
+    """Return logarithm of input quaternion"""
     b = np.sqrt(q[1]**2 + q[2]**2 + q[3]**2)
     if b <= _quaternion_resolution * np.abs(q[0]):
         if q[0] < 0.0:
@@ -257,12 +263,12 @@ def sqrt(q, qout):
 
     The general formula whenever the denominator is nonzero is
 
-    ```
-        √q = (|q| + q) / √(2|q| + 2q.w)
-    ```
+    $\\sqrt{q} = \\frac{|q| + q} {\\sqrt{2|q| + 2 q_w}}$
 
-    This can be proven by expanding `q` as `q.w + q.vec` and multiplying the
-    expression above by itself.
+    This can be proven by multiplying the right-hand side above by itself,
+    expanding $q$ as $q_w + q_\\mathrm{vec}$, and noting that $|q|^2 = q_w^2 +
+    q_\\mathrm{vec}^2$ and $q^2 = q_w^2 - q_\\mathrm{vec}^2 + 2 q_w
+    q_\\mathrm{vec}$.
 
     When the denominator is zero, the quaternion is a pure-real negative number.
     It is not clear what the appropriate square-root is in this case (because the
@@ -296,7 +302,7 @@ def square(q, qout):
 
 @attach_typelist_and_signature([(float64[:], float64[:])], '(n)->(n)')
 def reciprocal(q, qout):
-    """Return reciprocal (inverse) of quaternion q.inverse"""
+    """Return reciprocal (inverse) of quaternion"""
     norm = q[0]**2 + q[1]**2 + q[2]**2 + q[3]**2
     qout[0] = q[0] / norm
     qout[1] = -q[1] / norm
@@ -306,14 +312,12 @@ def reciprocal(q, qout):
 
 @attach_typelist_and_signature([(float64[:], float64[:], float64[:])], '(n),(n)->(n)')
 def bitwise_or(q1, q2, qout):
-    """Return scalar product of quaternions q1|q2.
+    """Return scalar product of quaternions `q1|q2`.
 
-    If we denote by `⟨a⟩ₛ` the grade-s component of the general multivector `a`,
-    we can express this product as
+    If we denote by $⟨a⟩_s$ the grade-$s$ component of the general multivector
+    $a$, we can express this product as
 
-    ```
-        a | b = Σₛ,ᵣ ⟨⟨a⟩ₛ ⟨b⟩ᵣ⟩₀
-    ```
+    `a | b` = $Σ_{s,r} ⟨⟨a⟩_s ⟨b⟩_r⟩_0$
 
     Note that this is different from the "Hestenes dot" product where the sum
     runs over s≠0 and r≠0; that is the product returned by `galgebra` using
@@ -328,17 +332,20 @@ def bitwise_or(q1, q2, qout):
 
 @attach_typelist_and_signature([(float64[:], float64[:], float64[:])], '(n),(n)->(n)')
 def bitwise_xor(q1, q2, qout):
-    """Return outer product of quaternions q1^q2.
+    """Return outer product of quaternions `q1^q2`.
 
     This is the generalized outer product of geometric algebra.  If we denote
-    by `⟨a⟩ₛ` the grade-s component of the general multivector `a`, we can
+    by $⟨a⟩_s$ the grade-s component of the general multivector $a$, we can
     express this product as
 
-    ```
-        a ^ b = Σₛ,ᵣ ⟨⟨a⟩ₛ ⟨b⟩ᵣ⟩ₛ₊ᵣ
-    ```
+    `a ^ b` = $Σ_{s,r} ⟨⟨a⟩_s ⟨b⟩_r⟩_{s+r}$
 
-    Note that the result may seem surprising because we sometimes think of quaternions as 
+    Note that the result may seem surprising because we sometimes think of
+    quaternions as "scalar-plus-vector" quantities, but they are more properly
+    "scalar-plus-bivector" quantities.  But since the outer product of a
+    bivector with another bivector is always 0 in three dimensions (which is
+    the dimensionality relevant for quaternions), that contribution to this
+    result will always be 0.
 
     """
     qout[0] = q1[0]*q2[0]
@@ -352,12 +359,12 @@ def bitwise_xor(q1, q2, qout):
 
 @attach_typelist_and_signature([(float64[:], float64[:], float64[:])], '(n),(n)->(n)')
 def left_shift(q1, q2, qout):
-    """Return left-contraction of quaternions q1<<q2 = q1⌋q1.
+    """Return left-contraction of quaternions `q1<<q2` = q1⌋q1.
 
     For all quaternions `a`, `b`, `c`, we have
 
-    ```
-        (a ^ b) * c = a * (b ⌋ c)
+    ```python
+    (a ^ b) * c = a * (b << c)
     ```
 
     """
@@ -369,12 +376,12 @@ def left_shift(q1, q2, qout):
 
 @attach_typelist_and_signature([(float64[:], float64[:], float64[:])], '(n),(n)->(n)')
 def right_shift(q1, q2, qout):
-    """Return right-contraction of quaternions q1>>q2 = q1⌊q2.
+    """Return right-contraction of quaternions `q1>>q2` = q1⌊q2.
 
     For all quaternions `a`, `b`, `c`, we have
 
-    ```
-        c * (b ^ a) = (c ⌊ b) * a
+    ```python
+    c * (b ^ a) = (c >> b) * a
     ```
 
     """
@@ -386,34 +393,41 @@ def right_shift(q1, q2, qout):
 
 @attach_typelist_and_signature([(float64[:], float64[:], boolean[:])], '(n),(n)->()')
 def not_equal(q1, q2, bout):
+    """Return True if any components are not equal, otherwise False"""
     bout[0] = np.any(q1[:] != q2[:])
 
 
 @attach_typelist_and_signature([(float64[:], float64[:], boolean[:])], '(n),(n)->()')
 def equal(q1, q2, bout):
+    """Return True if all components are identically equal, otherwise False"""
     bout[0] = np.all(q1[:] == q2[:])
 
 
 @attach_typelist_and_signature([(float64[:], float64[:], boolean[:])], '(n),(n)->()')
 def logical_and(q1, q2, bout):
+    """Return True if any component of `q1` and any component of `q2` is nonzero"""
     bout[0] = np.any(q1[:]) and np.any(q2[:])
 
 
 @attach_typelist_and_signature([(float64[:], float64[:], boolean[:])], '(n),(n)->()')
 def logical_or(q1, q2, bout):
+    """Return True if any component of `q1` or any component of `q2` is nonzero"""
     bout[0] = np.any(q1[:]) or np.any(q2[:])
 
 
 @attach_typelist_and_signature([(float64[:], boolean[:])], '(n)->()')
 def isfinite(qin, bout):
+    """Return True if all components are finite, otherwise False"""
     bout[0] = np.isfinite(qin[0]) and np.isfinite(qin[1]) and np.isfinite(qin[2]) and np.isfinite(qin[3])
 
 
 @attach_typelist_and_signature([(float64[:], boolean[:])], '(n)->()')
 def isinf(qin, bout):
+    """Return True if any component is `inf`, otherwise False"""
     bout[0] = np.isinf(qin[0]) or np.isinf(qin[1]) or np.isinf(qin[2]) or np.isinf(qin[3])
 
 
 @attach_typelist_and_signature([(float64[:], boolean[:])], '(n)->()')
 def isnan(qin, bout):
+    """Return True if any component is `nan`, otherwise False"""
     bout[0] = np.isnan(qin[0]) or np.isnan(qin[1]) or np.isnan(qin[2]) or np.isnan(qin[3])
diff --git a/quaternionic/arrays.py b/quaternionic/arrays.py
index 30c84c3..b0950b0 100644
--- a/quaternionic/arrays.py
+++ b/quaternionic/arrays.py
@@ -2,6 +2,16 @@
 # See LICENSE file for details:
 # <https://github.com/moble/quaternionic/blob/master/LICENSE>
 
+"""Interpret arrays as quaternionic arrays
+
+This module is responsible for subclassing numpy's basic `ndarray` type for the
+data type used by some particular type of array, and optionally JIT-compiling
+the code as appropriate for that data type.  The resulting "quaternionic" array
+will essentially be a numpy array, but all algebraic operations will pass
+through the appropriate quaternionic algebra function.
+
+"""
+
 import numpy as np
 
 from . import jit
@@ -21,6 +31,7 @@ def QuaternionicArray(jit=jit, dtype=float):
     sympy expressions.
 
     """
+
     class QArray(QuaternionPropertiesMixin(jit), QuaternionConvertersMixin(jit), np.ndarray):
         """Subclass of numpy arrays interpreted as quaternions.
 
@@ -258,3 +269,4 @@ def __str__(self):
 
 
 array = QuaternionicArray()
+array.__qualname__ = "array"
diff --git a/quaternionic/converters.py b/quaternionic/converters.py
index 07fcda5..70a819c 100644
--- a/quaternionic/converters.py
+++ b/quaternionic/converters.py
@@ -2,6 +2,18 @@
 # See LICENSE file for details:
 # <https://github.com/moble/quaternionic/blob/master/LICENSE>
 
+"""Convert to and from quaternion representation
+
+This module provides a variety of conversion functions that translate
+quaternions to and from rotation matrices, axis-angle representation, Euler
+angles, and spherical coordinates.
+
+More specifically, this module provides a factory function that creates a mixin
+class, which can be inherited from by other classes and will add converters to
+the inheriting class.
+
+"""
+
 import abc
 import numpy as np
 from . import jit
@@ -281,7 +293,7 @@ def from_axis_angle(cls, vec):
             Returns
             -------
             q : array of quaternions
-                Unit quaternions resulting in rotations corresponding to input
+                Unit quaternions resulting in rotations corresponding to input axis-angle
                 rotations.  Output shape is rot.shape[:-1].
 
             """
@@ -500,7 +512,7 @@ def to_angular_velocity(self, t, t_new=None, axis=0):
 
                 ω = 2 * dQ/dt * Q⁻¹
 
-            This agress with the standard definition when `Q` is a unit quaternion and we
+            This agrees with the standard definition when `Q` is a unit quaternion and we
             rotate a vector `v` according to
 
                 v' = Q * v * Q̄ = Q * v * Q⁻¹,
@@ -509,13 +521,21 @@ def to_angular_velocity(self, t, t_new=None, axis=0):
 
                 dv'/dt = ω × v'.
 
-            It also generalizes this to the case where `Q` is not a unit quaternion, which
-            means that it also rescales the vector by the amount Q*Q̄.  In this case, ω also
-            has a scalar component encoding twice the logarithmic time-derivative of this
-            rescaling, and we have
+            That definition of ω also generalizes to the case where `Q` is not a unit
+            quaternion, which means that it also rescales the vector by the amount `Q*Q̄`.
+            In this case, ω also has a scalar component encoding twice the logarithmic
+            time-derivative of this rescaling, and we have the more general result that
+            when
+
+                v' = Q * v * Q̄,
+
+            we have
 
                 dv'/dt = ω * v' + v' * ω̄.
 
+            If you want to implicitly normalize `Q`, just disregard (or set to 0) the
+            scalar component output by this function.
+
             """
             from scipy.interpolate import CubicSpline
             spline = CubicSpline(t, self, axis=axis)
@@ -562,7 +582,7 @@ def from_angular_velocity(cls, omega, t, R0=None, tolerance=1e-12):
 
             This only defines the rotating frame up to a constant overall rotation.  In
             particular, if `Q` satisfies the above equation, then so does `Q * P` for any
-            constant quaternion `P`.
+            (constant-in-time) quaternion `P`.
 
             """
             import warnings
@@ -634,7 +654,7 @@ def to_minimal_rotation(self, t, t_new=None, axis=0, iterations=2):
             Note that this condition becomes easier to impose the closer the input rotation
             is to a minimally rotating frame, which means that repeated application of this
             function improves its accuracy.  By default, this function is iterated twice,
-            though a few more iterations may be called for.
+            though more iterations may be called for in some cases.
 
             """
             from scipy.interpolate import CubicSpline
diff --git a/quaternionic/distance.py b/quaternionic/distance.py
index f09716b..6621a1e 100644
--- a/quaternionic/distance.py
+++ b/quaternionic/distance.py
@@ -2,6 +2,46 @@
 # See LICENSE file for details:
 # <https://github.com/moble/quaternionic/blob/master/LICENSE>
 
+"""Distance functions of quaternions
+
+This module contains four distance functions:
+
+  * `rotor.intrinsic`
+  * `rotor.chordal`
+  * `rotation.intrinsic`
+  * `rotation.chordal`
+
+The "rotor" distances do not account for possible differences in signs, meaning
+that rotor distances can be large even when they represent identical rotations;
+the "rotation" functions just return the smaller of the distance between `q1`
+and `q2` or the distance between `q1` and `-q2`.  So, for example, either
+"rotation" distance between `q` and `-q` is always zero, whereas neither
+"rotor" distance between `q` and `-q` will ever be zero (unless `q` is zero).
+The "intrinsic" functions measure the geodesic distance within the manifold of
+*unit* quaternions, and is somewhat slower but may be more meaningful; the
+"chordal" functions measure the Euclidean distance in the (linear) space of all
+quaternions, and is faster but its precise value is not necessarily as
+meaningful.
+
+These functions satisfy some important conditions.  For each of these functions
+`d`, and for any nonzero quaternions `q1` and `q2`, and *unit* quaternions `q3`
+and `q4`, we have
+
+  * symmetry: `d(q1, q2) = d(q2, q1)`
+  * invariance: `d(q3*q1, q3*q2) = d(q1, q2) = d(q1*q4, q2*q4)`
+  * identity: `d(q1, q1) = 0`
+  * positive-definiteness:
+    * For rotor functions `d(q1, q2) > 0` whenever `q1 ≠ q2`
+    * For rotation functions `d(q1, q2) > 0` whenever `q1 ≠ q2` and `q1 ≠ -q2`
+
+Note that the rotation functions also satisfy both the usual identity property
+`d(q1, q1) = 0` and the opposite-identity property `d(q1, -q1) = 0`.
+
+See [Moakher (2002)](https://doi.org/10.1137/S0895479801383877) for a nice
+general discussion.
+
+"""
+
 import numpy as np
 from . import jit, guvectorize, algebra, float64
 from .utilities import ndarray_args
@@ -75,7 +115,6 @@ def chordal(q1, q2, out):
             """
             out[0] = np.sqrt((q1[0]-q2[0])**2 + (q1[1]-q2[1])**2 + (q1[2]-q2[2])**2 + (q1[3]-q2[3])**2)
 
-
     class Rotation(object):
         @ndarray_args
         @guvectorize([(float64[:], float64[:], float64[:])], '(n),(n)->()')
@@ -155,7 +194,6 @@ def chordal(q1, q2, out):
             else:
                 out[0] = np.sqrt(b)
 
-
     return Rotor, Rotation
 
 
diff --git a/quaternionic/interpolation.py b/quaternionic/interpolation.py
index 47b598a..87542e5 100644
--- a/quaternionic/interpolation.py
+++ b/quaternionic/interpolation.py
@@ -2,6 +2,15 @@
 # See LICENSE file for details:
 # <https://github.com/moble/quaternionic/blob/master/LICENSE>
 
+"""Functions for timeseries of quaternionic arrays
+
+This module provides functions for treating quaternionic arrays as time series —
+things like interpolation, differentiation, integration, and so on.  Note that some
+of these functions do not make sense with symbolic quaternions, so we assume that
+all inputs are numpy arrays.
+
+"""
+
 import numpy as np
 from numba import float64
 
@@ -51,10 +60,10 @@ def unflip_rotors(R_in, axis=-2, inplace=False):
     Quaternions form a "double cover" of the rotation group, meaning that if `q`
     represents a rotation, then `-q` represents the same rotation.  This is clear
     from the way a quaternion is used to rotate a vector `v`: the rotated vector is
-    `q * v * q.conjugate()`, which is precisely the same as the vector resulting
-    from `(-q) * v * (-q).conjugate()`.  Some ways of constructing quaternions
-    (such as converting from rotation matrices or other representations) can result
-    in unexpected sign choices.  For many applications, this will not be a problem.
+    `q * v * q.conjugate()`, which is identical to the product using `-q`, given by
+    `(-q) * v * (-q).conjugate()`.  Some ways of constructing quaternions (such as
+    converting from rotation matrices or other representations) can result in
+    unexpected sign choices.  For many applications, this will not be a problem.
     But if, for example, the quaternions need to be interpolated or differentiated,
     the results may be surprising.  This function flips the signs of successive
     quaternions (along some chosen axis, if relevant), so that successive
diff --git a/quaternionic/properties.py b/quaternionic/properties.py
index 652da8d..c86428a 100644
--- a/quaternionic/properties.py
+++ b/quaternionic/properties.py
@@ -2,6 +2,18 @@
 # See LICENSE file for details:
 # <https://github.com/moble/quaternionic/blob/master/LICENSE>
 
+"""Convenient properties for quaternionic arrays
+
+This module provides a variety of attributes relevant to quaternionic arrays —
+such as properties to extract components of the quaternion, to find the norm,
+conjugate, or inverse of a quaternion, and so on.
+
+More specifically, this module provides a factory function that creates a mixin
+class, which can be inherited from by other classes and will add these
+properties to the inheriting class.
+
+"""
+
 import abc
 import collections
 import numpy as np
diff --git a/quaternionic/utilities.py b/quaternionic/utilities.py
index 6b2835d..1cdb056 100644
--- a/quaternionic/utilities.py
+++ b/quaternionic/utilities.py
@@ -2,6 +2,14 @@
 # See LICENSE file for details:
 # <https://github.com/moble/quaternionic/blob/master/LICENSE>
 
+"""Utility functions
+
+This module provides a number of wrappers and other functions that enable
+JIT-compiling the various functions and classes of quaternionic arrays for
+faster processing.
+
+"""
+
 import sys
 import functools