diff --git a/doc/common/conf.py b/doc/common/conf.py
index f121b60..099d86a 100644
--- a/doc/common/conf.py
+++ b/doc/common/conf.py
@@ -314,10 +314,10 @@ def on_missing_reference(app, env, node, contnode):
     for unit in [
         "deg",
         "deg/s",
-        "deg/s/s",
+        "deg/s²",
         "mm",
         "mm/s",
-        "mm/s/s",
+        "mm/s²",
         "%",
         "mV",
         "mA",
diff --git a/doc/main/hubs/movehub.rst b/doc/main/hubs/movehub.rst
index 070afe7..6e6287e 100644
--- a/doc/main/hubs/movehub.rst
+++ b/doc/main/hubs/movehub.rst
@@ -29,7 +29,7 @@ Move Hub
 
         .. versionchanged:: 3.2
 
-            Changed acceleration units from m/s/s to mm/s/s.
+            Changed acceleration units from m/s² to mm/s².
 
     .. rubric:: Using the battery
 
diff --git a/doc/main/signaltypes.rst b/doc/main/signaltypes.rst
index 1858949..3a2df76 100644
--- a/doc/main/signaltypes.rst
+++ b/doc/main/signaltypes.rst
@@ -76,12 +76,12 @@ use the following table to convert between commonly used units.
 
 .. _acceleration:
 
-rotational acceleration: deg/s/s
+rotational acceleration: deg/s²
 --------------------------------
 
 Rotational acceleration, or *angular acceleration* describes how fast the
 rotational speed changes. This is expressed as the change of the number of
-degrees per second, during one second (deg/s/s). This is also commonly written
+degrees per second, during one second (deg/s²). This is also commonly written
 as  :math:`deg/s^2`.
 
 For example, you can adjust the rotational acceleration setting of a ``Motor``
@@ -134,11 +134,11 @@ For example, the speed of a robotic vehicle is expressed in mm/s.
 
 .. _linacceleration:
 
-linear acceleration: mm/s/s
+linear acceleration: mm/s²
 --------------------------------
 
 Linear acceleration describes how fast the speed changes. This is expressed as
-the change of the millimeters per second, during one second (mm/s/s).
+the change of the millimeters per second, during one second (mm/s²).
 This is also commonly written as  :math:`mm/s^2`.
 
 For example, you can adjust the acceleration setting of a
diff --git a/src/pybricks/_common.py b/src/pybricks/_common.py
index 66d0f03..165333a 100644
--- a/src/pybricks/_common.py
+++ b/src/pybricks/_common.py
@@ -170,7 +170,7 @@ class Control:
         Arguments:
             speed (Number, deg/s or Number, mm/s):
                 Maximum speed. All speed commands will be capped to this value.
-            acceleration (Number, deg/s/s or Number, mm/s/s):
+            acceleration (Number, deg/s² or Number, mm/s²):
                 Slope of the speed curve when accelerating or decelerating.
                 Use a tuple to set acceleration and deceleration separately.
                 If one value is given, it is used for both.
@@ -869,7 +869,7 @@ class SimpleAccelerometer:
     """Get measurements from an accelerometer."""
 
     def acceleration(self) -> Tuple[int, int, int]:
-        """acceleration() -> Tuple[int, int, int]: mm/s/s
+        """acceleration() -> Tuple[int, int, int]: mm/s²
 
         Gets the acceleration of the device.
 
@@ -903,8 +903,8 @@ class Accelerometer(SimpleAccelerometer):
 
     def acceleration(self, *args):
         """
-        acceleration(axis) -> float: mm/s/s
-        acceleration() -> vector: mm/s/s
+        acceleration(axis) -> float: mm/s²
+        acceleration() -> vector: mm/s²
 
 
         Gets the acceleration of the device along a given axis in the