diff --git a/ShoulderCase/@Vector/Vector.m b/ShoulderCase/@Vector/Vector.m
index bdff492..b6a5ec6 100644
--- a/ShoulderCase/@Vector/Vector.m
+++ b/ShoulderCase/@Vector/Vector.m
@@ -1,121 +1,150 @@
 classdef Vector < handle 
 
   properties 
     origin
     target
   end 
 
   methods
 
     function obj = Vector(varargin) 
       if nargin == 1
         origin = [0 0 0];
         target = varargin{1};
       elseif nargin == 2
         origin = varargin{1};
         target = varargin{2};
       else
         error("Vector constructor only accepts up to 2 arguments");
       end
       obj.origin = origin;
       obj.target = target;
     end
 
     function output = copy(obj)
       output = Vector(obj.origin, obj.target);
     end
 
     function set.origin(obj, value)
       assert(isequal(size(value),[1,3]),"Origin must be a 1x3 double array")
       obj.origin = value;
     end
 
     function set.target(obj, value)
       assert(isequal(size(value),[1,3]),"Target must be a 1x3 double array")
       obj.target = value;
     end
 
     function output = points(obj)
       output = [obj.origin; obj.target];
     end
 
     function output = vector(obj)
       output = obj.target - obj.origin;
     end
 
     function output = norm(obj)
       output = norm(obj.vector);
     end
 
     function output = direction(obj)
       output = obj.vector / obj.norm;
     end
 
     function output = orientToward(obj, orientationElement)
       if isequal(class(orientationElement),"Vector")
         orientation = orientationElement.vector;
       else
         orientation = orientationElement;
       end
 
       if dot(obj.vector, orientation) >= 0
         output = obj.copy();
       else
         output = -obj.copy();
       end
     end
 
     function output = project(obj, projectedElement)
       % projectedElement must be either a point in 3D space (1x3 double array)
       % or another Vector.
       if isequal(class(projectedElement),"Vector")
         projectedVector = projectedElement;
       elseif isequal(size(projectedElement),[1,3])
         projectedVector = Vector(obj.origin, projectedElement);
       end
       output = Vector(obj.origin, obj.origin + obj.direction*dot(projectedVector.vector,obj.direction));
     end
     
     function output = orthogonalComplementToPoint(obj, point)
       output = -obj.project(point) + Vector(obj.origin, point);
     end
 
     function plot(obj)
       points = obj.points;
       plot3(points(:,1), points(:,2), points(:,3));
     end
 
     function output = uminus(obj)
       output = Vector(obj.target, obj.origin);
     end
 
     function output = plus(obj, addedVector)
       if isequal(class(addedVector),"Vector")
         output = Vector(obj.origin, obj.target + addedVector.vector);
       elseif isequal(size(addedVector),[1,3])
         output = Vector(obj.origin, obj.target + addedVector);
       end
     end
     
     function output = minus(obj, substractedVector)
       if isequal(class(substractedVector),"Vector")
         output = obj + -substractedVector;
       elseif isequal(size(substractedVector),[1,3])
         output = Vector(obj.origin, obj.origin - substractedVector);
       end
     end
 
     function output = mtimes(left,right)
       if isequal(class(left),"Vector")
         vectorObject = left;
         coefficient = right;
       else
         vectorObject = right;
         coefficient = left;
       end
       output = Vector(vectorObject.origin, vectorObject.origin + coefficient*vectorObject.vector);
     end
 
+    function output = dot(obj, inputVector)
+      if isequal(class(inputVector),"Vector")
+        array = inputVector.vector;
+      else
+        array = inputVector;
+      end
+      output = dot(obj.vector, array);
+    end
+
+    function output = cross(obj, inputVector)
+      if isequal(class(inputVector),"Vector")
+        array = inputVector.vector;
+      else
+        array = inputVector;
+      end
+      output = Vector(obj.origin, obj.origin + cross(obj.vector, array));
+    end
+
+    function output = angle(obj, inputVector)
+      if isequal(class(inputVector),"Vector")
+        array = inputVector.vector;
+      else
+        array = inputVector;
+      end
+      rotation = vrrotvec(obj.vector, array);
+      output = rotation(4);
+    end
+
+
   end
 
 end
\ No newline at end of file