diff --git a/Polar.cpp b/Polar.cpp
index 12b09bd..f170ecd 100644
--- a/Polar.cpp
+++ b/Polar.cpp
@@ -40,6 +40,15 @@ bool Polar::operator==(const Polar &v) {
   return (this->distance == v.distance && this->angle == v.angle);
 }
 
+Polar Polar::Normalize(const Polar &v) {
+  Polar r = Polar(1, v.angle);
+  return r;
+}
+Polar Polar::normalized() const {
+  Polar r = Polar(1, this->angle);
+  return r;
+}
+
 Polar Polar::operator+(Polar &v2) {
   if (v2.distance == 0)
     return Polar(this->distance, this->angle);
@@ -96,7 +105,8 @@ float Polar::Distance(const Polar &v1, const Polar &v2) {
   return d;
 }
 
-Polar Polar::Rotate(Polar v, Angle angle) {
-  v.angle = Angle::Normalize(v.angle + angle);
-  return v;
+Polar Polar::Rotate(const Polar &v, Angle angle) {
+  Angle a = Angle::Normalize(v.angle + angle);
+  Polar r = Polar(v.distance, a);
+  return r;
 }
\ No newline at end of file
diff --git a/Polar.h b/Polar.h
index e95fd56..f5ae017 100644
--- a/Polar.h
+++ b/Polar.h
@@ -52,6 +52,22 @@ public:
   /// effects. Equality on floats should be avoided.
   bool operator==(const Polar &v);
 
+  /// @brief The vector length
+  /// @param v The vector for which you need the length
+  /// @return The vector length;
+  inline static float Magnitude(const Polar &v) { return v.distance; }
+  /// @brief The vector length
+  /// @return The vector length
+  inline float magnitude() const { return this->distance; }
+
+  /// @brief Convert the vector to a length of 1
+  /// @param v The vector to convert
+  /// @return The vector normalized to a length of 1
+  static Polar Normalize(const Polar &v);
+  /// @brief Convert the vector to a length of a
+  /// @return The vector normalized to a length of 1
+  Polar normalized() const;
+
   /// @brief Negate the vector
   /// @return The negated vector
   /// This will rotate the vector by 180 degrees. Distance will stay the same.
@@ -87,7 +103,7 @@ public:
   /// @param v The vector to rotate
   /// @param a The angle in degreesto rotate
   /// @return The rotated vector
-  static Polar Rotate(Polar v, Angle a);
+  static Polar Rotate(const Polar &v, Angle a);
 };
 
 } // namespace Passer
diff --git a/Vector2.cpp b/Vector2.cpp
index 0aeaba1..c5321ea 100644
--- a/Vector2.cpp
+++ b/Vector2.cpp
@@ -60,7 +60,7 @@ float Vector2::magnitude() const { return (float)sqrtf(x * x + y * y); }
 float Vector2::SqrMagnitude(const Vector2 &a) { return a.x * a.x + a.y * a.y; }
 float Vector2::sqrMagnitude() const { return (x * x + y * y); }
 
-Vector2 Vector2::Normalize(Vector2 v) {
+Vector2 Vector2::Normalize(const Vector2 &v) {
   float num = Vector2::Magnitude(v);
   Vector2 result = Vector2::zero;
   if (num > Float::epsilon) {
@@ -89,10 +89,10 @@ Vector2 Vector2::operator+(const Vector2 &v2) const {
 Vector2 Vector2::Scale(const Vector2 &p1, const Vector2 &p2) {
   return Vector2(p1.x * p2.x, p1.y * p2.y);
 }
-Vector2 Vector2::operator*(const float &f) const {
+Vector2 Vector2::operator*(float f) const {
   return Vector2(this->x * f, this->y * f);
 }
-Vector2 Vector2::operator/(const float &f) const {
+Vector2 Vector2::operator/(float f) const {
   return Vector2(this->x / f, this->y / f);
 }
 
@@ -125,7 +125,7 @@ float Vector2::SignedAngle(const Vector2 &v1, const Vector2 &v2) {
   return -(angleTo - angleFrom) * Angle::Rad2Deg;
 }
 
-Vector2 Vector2::Rotate(const Vector2 &v, const float &a) {
+Vector2 Vector2::Rotate(const Vector2 &v, Passer::Angle a) {
   float angleRad = a * Angle::Deg2Rad;
 #if defined(AVR)
   float sinValue = sin(angleRad);
@@ -142,7 +142,7 @@ Vector2 Vector2::Rotate(const Vector2 &v, const float &a) {
   return r;
 }
 
-Vector2 Vector2::Lerp(const Vector2 &v1, const Vector2 &v2, const float f) {
+Vector2 Vector2::Lerp(const Vector2 &v1, const Vector2 &v2, float f) {
   Vector2 v = v1 + (v2 - v1) * f;
   return v;
 }
diff --git a/Vector2.h b/Vector2.h
index fbf5d3e..63d3c08 100644
--- a/Vector2.h
+++ b/Vector2.h
@@ -5,6 +5,8 @@
 #ifndef VECTOR2_H
 #define VECTOR2_H
 
+#include "Angle.h"
+
 extern "C" {
 /// <summary>
 /// 2-dimensional Vector representation
@@ -106,7 +108,7 @@ public:
   /// @brief Convert the vector to a length of 1
   /// @param v The vector to convert
   /// @return The vector normalized to a length of 1
-  static Vector2 Normalize(Vector2 v);
+  static Vector2 Normalize(const Vector2 &v);
   /// @brief Convert the vector to a length 1
   /// @return The vector normalized to a length of 1
   Vector2 normalized() const;
@@ -136,12 +138,12 @@ public:
   /// @return The scaled vector
   /// @remark Each component of the vector will be multipled with the same
   /// factor f.
-  Vector2 operator*(const float &f) const;
+  Vector2 operator*(float f) const;
   /// @brief Scale the vector uniformly down
   /// @param f The scaling factor
   /// @return The scaled vector
   /// @remark Each componet of the vector will be divided by the same factor.
-  Vector2 operator/(const float &f) const;
+  Vector2 operator/(float f) const;
 
   /// @brief The dot product of two vectors
   /// @param v1 The first vector
@@ -173,7 +175,7 @@ public:
   /// @param v The vector to rotate
   /// @param a The angle in degrees to rotate
   /// @return The rotated vector
-  static Vector2 Rotate(const Vector2 &v, const float &a);
+  static Vector2 Rotate(const Vector2 &v, Passer::Angle a);
 
   /// @brief Lerp (linear interpolation) between two vectors
   /// @param v1 The starting vector
@@ -183,7 +185,7 @@ public:
   /// @remark The factor f is unclamped. Value 0 matches the vector *v1*, Value
   /// 1 matches vector *v2*. Value -1 is vector *v1* minus the difference
   /// between *v1* and *v2* etc.
-  static Vector2 Lerp(const Vector2 &v1, const Vector2 &v2, const float f);
+  static Vector2 Lerp(const Vector2 &v1, const Vector2 &v2, float f);
 };
 
 } // namespace Passer