diff --git a/HandmadeMath.h b/HandmadeMath.h
index f3bf3de..641c378 100644
--- a/HandmadeMath.h
+++ b/HandmadeMath.h
@@ -2504,41 +2504,53 @@ static inline HMM_Quat HMM_M4ToQ_LH(HMM_Mat4 M)
 
 
 COVERAGE(HMM_QFromAxisAngle_RH, 1)
-static inline HMM_Quat HMM_QFromAxisAngle_RH(HMM_Vec3 Axis, float AngleOfRotation)
+static inline HMM_Quat HMM_QFromAxisAngle_RH(HMM_Vec3 Axis, float Angle)
 {
     ASSERT_COVERED(HMM_QFromAxisAngle_RH);
 
     HMM_Quat Result;
 
     HMM_Vec3 AxisNormalized = HMM_NormV3(Axis);
-    float SineOfRotation = HMM_SinF(AngleOfRotation / 2.0f);
+    float SineOfRotation = HMM_SinF(Angle / 2.0f);
 
     Result.XYZ = HMM_MulV3F(AxisNormalized, SineOfRotation);
-    Result.W = HMM_CosF(AngleOfRotation / 2.0f);
+    Result.W = HMM_CosF(Angle / 2.0f);
 
     return Result;
 }
 
 COVERAGE(HMM_QFromAxisAngle_LH, 1)
-static inline HMM_Quat HMM_QFromAxisAngle_LH(HMM_Vec3 Axis, float AngleOfRotation)
+static inline HMM_Quat HMM_QFromAxisAngle_LH(HMM_Vec3 Axis, float Angle)
 {
     ASSERT_COVERED(HMM_QFromAxisAngle_LH);
 
-    return HMM_QFromAxisAngle_RH(Axis, -AngleOfRotation);
+    return HMM_QFromAxisAngle_RH(Axis, -Angle);
 }
 
-
 // implementation from
 // https://blog.molecular-matters.com/2013/05/24/a-faster-quaternion-vector-multiplication/
-COVERAGE(HMM_RotateQV3, 1)
-static inline HMM_Vec3 HMM_RotateQV3(HMM_Quat Q, HMM_Vec3 V)
+COVERAGE(HMM_RotateV3Q, 1)
+static inline HMM_Vec3 HMM_RotateV3Q(HMM_Vec3 V, HMM_Quat Q)
 {
-    ASSERT_COVERED(HMM_RotateQV3);
+    ASSERT_COVERED(HMM_RotateV3Q);
 
     HMM_Vec3 t = HMM_MulV3F(HMM_Cross(Q.XYZ, V), 2);
     return HMM_AddV3(V, HMM_AddV3(HMM_MulV3F(t, Q.W), HMM_Cross(Q.XYZ, t)));
 }
 
+COVERAGE(HMM_RotateV3AxisAngle_LH, 1)
+static inline HMM_Vec3 HMM_RotateV3AxisAngle_LH(HMM_Vec3 V, HMM_Vec3 Axis, float Angle) {
+    ASSERT_COVERED(HMM_RotateV3AxisAngle_LH);
+
+    return HMM_RotateV3Q(V, HMM_QFromAxisAngle_LH(Axis, Angle));
+}
+
+COVERAGE(HMM_RotateV3AxisAngle_RH, 1)
+static inline HMM_Vec3 HMM_RotateV3AxisAngle_RH(HMM_Vec3 V, HMM_Vec3 Axis, float Angle) {
+    ASSERT_COVERED(HMM_RotateV3AxisAngle_RH);
+
+    return HMM_RotateV3Q(V, HMM_QFromAxisAngle_RH(Axis, Angle));
+}
 
 
 #ifdef __cplusplus
diff --git a/test/categories/QuaternionOps.h b/test/categories/QuaternionOps.h
index c96096c..18bebf2 100644
--- a/test/categories/QuaternionOps.h
+++ b/test/categories/QuaternionOps.h
@@ -254,43 +254,20 @@ TEST(QuaternionOps, Mat4ToQuat)
     }
 }
 
-TEST(QuaternionOps, FromAxisAngle)
-{
-    HMM_Vec3 axis = HMM_V3(1.0f, 0.0f, 0.0f);
-    float angle = HMM_PI32 / 2.0f;
-
-    {
-        HMM_Quat result = HMM_QFromAxisAngle_RH(axis, angle);
-        EXPECT_NEAR(result.X, 0.707107f, 0.001f);
-        EXPECT_NEAR(result.Y, 0.0f, 0.001f);
-        EXPECT_NEAR(result.Z, 0.0f, 0.001f);
-        EXPECT_NEAR(result.W, 0.707107f, 0.001f);
-    }
-    {
-        HMM_Quat result = HMM_QFromAxisAngle_LH(axis, angle);
-        EXPECT_NEAR(result.X, -0.707107f, 0.001f);
-        EXPECT_NEAR(result.Y, 0.0f, 0.001f);
-        EXPECT_NEAR(result.Z, 0.0f, 0.001f);
-        EXPECT_NEAR(result.W, 0.707107f, 0.001f);
-    }
-}
-
-TEST(QuaternionOps, RotateVector)
+TEST(QuaternionOps, RotateVectorAxisAngle)
 {
     {
         HMM_Vec3 axis = HMM_V3(0.0f, 1.0f, 0.0f);
-        float angle = -HMM_PI32 / 2.0f;
-        HMM_Quat q = HMM_QFromAxisAngle_RH(axis, angle);
-        HMM_Vec3 result = HMM_RotateQV3(q, HMM_V3(1.0f, 0.0f, 0.0f));
+        float angle = HMM_AngleTurn(1.0/4);
+        HMM_Vec3 result = HMM_RotateV3AxisAngle_LH(HMM_V3(1.0f, 0.0f, 0.0f), axis, angle);
         EXPECT_NEAR(result.X, 0.0f, 0.001f);
         EXPECT_NEAR(result.Y, 0.0f, 0.001f);
         EXPECT_NEAR(result.Z, 1.0f, 0.001f);
     }
     {
         HMM_Vec3 axis = HMM_V3(1.0f, 0.0f, 0.0f);
-        float angle = HMM_PI32 / 4.0f;
-        HMM_Quat q = HMM_QFromAxisAngle_RH(axis, angle);
-        HMM_Vec3 result = HMM_RotateQV3(q, HMM_V3(0.0f, 0.0f, 1.0f));
+        float angle = HMM_AngleTurn(1.0/8);
+        HMM_Vec3 result = HMM_RotateV3AxisAngle_RH(HMM_V3(0.0f, 0.0f, 1.0f), axis, angle);
         EXPECT_NEAR(result.X, 0.0f, 0.001f);
         EXPECT_NEAR(result.Y, -0.707170f, 0.001f);
         EXPECT_NEAR(result.Z, 0.707170f, 0.001f);