diff --git a/docs/source/index.rst b/docs/source/index.rst
index 6117b85..100deee 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -1,16 +1,17 @@
-.. zonopy documentation master file, created by
-   sphinx-quickstart on Mon Feb 12 22:58:03 2024.
-   You can adapt this file completely to your liking, but it should at least
-   contain the root `toctree` directive.
+Zonopy - Zonotopes and Other Continous Set Types in Python
+==========================================================
 
-Welcome to zonopy's documentation!
-==================================
+Zonopy is a Python library for working with zonotopes and other continuous set types.
+It is built on top of PyTorch and designed to be fast and easy to use.
+This project is still early in development, so much of the API is subject to change.
 
 .. toctree::
    :maxdepth: 2
    :caption: Contents:
 
    zonopy
+   math
+   utils
    flags
 
 
diff --git a/docs/source/math.rst b/docs/source/math.rst
new file mode 100644
index 0000000..3c57834
--- /dev/null
+++ b/docs/source/math.rst
@@ -0,0 +1,50 @@
+Math Operations
+===============
+.. automodule:: zonopy
+    :members:
+    :show-inheritance:
+    :noindex:
+.. currentmodule:: zonopy
+
+Most common math operations are implemented for zonotopes and polynomial zonotopes.
+The operations are implemented in a way that they can be used with both single and batched zonotopes.
+In a later version, these operations will migrate to a dispatch mechanism to allow for more flexibility and better documentation.
+
+Linear Algebra
+--------------
+.. autosummary::
+    :toctree: generated
+    :nosignatures:
+    :recursive:
+
+    cross
+
+Transcendentals
+---------------
+.. autosummary::
+    :toctree: generated
+    :nosignatures:
+
+    cos
+    sin
+    cos_sin_cartprod
+
+Rotations
+---------
+.. autosummary::
+    :toctree: generated
+    :nosignatures:
+
+    rot_mat
+
+Deprecated / Possibly Broken
+----------------------------
+.. autosummary::
+    :toctree: generated
+    :nosignatures:
+    
+    dot
+    close
+    gen_batch_rotatotope_from_jrs_trig
+    gen_rotatotope_from_jrs_trig
+    get_pz_rotations_from_q
diff --git a/docs/source/utils.rst b/docs/source/utils.rst
new file mode 100644
index 0000000..e4c9968
--- /dev/null
+++ b/docs/source/utils.rst
@@ -0,0 +1,28 @@
+Utility Functions
+=================
+.. automodule:: zonopy
+    :members:
+    :show-inheritance:
+    :noindex:
+.. currentmodule:: zonopy
+
+.. autosummary::
+    :toctree: generated
+    :nosignatures:
+
+    remove_dependence_and_compress
+    stack
+
+Deprecated / Possibly Broken
+----------------------------
+.. autosummary::
+    :toctree: generated
+    :nosignatures:
+    
+    plot_JRSs
+    plot_polyzonos_xy
+    plot_polyzonos
+    plot_zonos
+    config_safety_check
+    traj_safety_check
+    obstacle_collison_free_check