diff --git a/src/math/transform.rs b/src/math/transform.rs
index 8da8fae..2b5be2b 100755
--- a/src/math/transform.rs
+++ b/src/math/transform.rs
@@ -71,7 +71,7 @@ impl Transform {
 
     /// Rotate this transform using a Quaternion
     pub fn rotate(&mut self, rotation: Quat) {
-        self.rotation = rotation * self.rotation;
+        self.rotation = (rotation * self.rotation).normalize();
     }
 
     pub fn rotate_x(&mut self, angle: Angle) {
@@ -96,7 +96,8 @@ impl Transform {
         if alpha.is_finite() {
             let mut res = self.clone();
             res.translation = self.translation.lerp(rhs.translation, alpha);
-            res.rotation = self.rotation.lerp(rhs.rotation, alpha);
+            // normalize rotation here to avoid panics
+            res.rotation = self.rotation.lerp(rhs.rotation.normalize(), alpha);
             res.scale = self.scale.lerp(rhs.scale, alpha);
             res
         } else {