diff --git a/src/main/java/org/apache/commons/math4/geometry/euclidean/threed/FieldRotation.java b/src/main/java/org/apache/commons/math4/geometry/euclidean/threed/FieldRotation.java
index d3853c0c5..d4c7a1804 100644
--- a/src/main/java/org/apache/commons/math4/geometry/euclidean/threed/FieldRotation.java
+++ b/src/main/java/org/apache/commons/math4/geometry/euclidean/threed/FieldRotation.java
@@ -234,7 +234,7 @@ public class FieldRotation<T extends RealFieldElement<T>> implements Serializabl
      * <p>If the angular separation between u<sub>1</sub> and u<sub>2</sub> is
      * not the same as the angular separation between v<sub>1</sub> and
      * v<sub>2</sub>, then a corrected v'<sub>2</sub> will be used rather than
-     * v<sub>2</sub>, the corrected vector will be in the (&pm;v<sub>1</sub>,
+     * v<sub>2</sub>, the corrected vector will be in the (&plusmn;v<sub>1</sub>,
      * +v<sub>2</sub>) half-plane.</p>
 
      * @param u1 first vector of the origin pair
@@ -1637,9 +1637,9 @@ public class FieldRotation<T extends RealFieldElement<T>> implements Serializabl
      * or very different. It is mathematically defined as the angle of
      * the rotation r that prepended to one of the rotations gives the other
      * one:</p>
-     * <pre>
+     * <div style="white-space: pre"><code>
      *        r<sub>1</sub>(r) = r<sub>2</sub>
-     * </pre>
+     * </code></div>
      * <p>This distance is an angle between 0 and &pi;. Its value is the smallest
      * possible upper bound of the angle in radians between r<sub>1</sub>(v)
      * and r<sub>2</sub>(v) for all possible vectors v. This upper bound is
diff --git a/src/main/java/org/apache/commons/math4/geometry/euclidean/threed/Rotation.java b/src/main/java/org/apache/commons/math4/geometry/euclidean/threed/Rotation.java
index a14eb6f14..59517baea 100644
--- a/src/main/java/org/apache/commons/math4/geometry/euclidean/threed/Rotation.java
+++ b/src/main/java/org/apache/commons/math4/geometry/euclidean/threed/Rotation.java
@@ -262,7 +262,7 @@ public class Rotation implements Serializable {
    * <p>If the angular separation between u<sub>1</sub> and u<sub>2</sub> is
    * not the same as the angular separation between v<sub>1</sub> and
    * v<sub>2</sub>, then a corrected v'<sub>2</sub> will be used rather than
-   * v<sub>2</sub>, the corrected vector will be in the (&pm;v<sub>1</sub>,
+   * v<sub>2</sub>, the corrected vector will be in the (&plusmn;v<sub>1</sub>,
    * +v<sub>2</sub>) half-plane.</p>
 
    * @param u1 first vector of the origin pair
@@ -1399,9 +1399,9 @@ public class Rotation implements Serializable {
    * or very different. It is mathematically defined as the angle of
    * the rotation r that prepended to one of the rotations gives the other
    * one:</p>
-   * <pre>
+   * <div style="white-space: pre"><code>
    *        r<sub>1</sub>(r) = r<sub>2</sub>
-   * </pre>
+   * </code></div>
    * <p>This distance is an angle between 0 and &pi;. Its value is the smallest
    * possible upper bound of the angle in radians between r<sub>1</sub>(v)
    * and r<sub>2</sub>(v) for all possible vectors v. This upper bound is