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Jets are algorithmic realizations of the fragmentation and hadronization patterns of high energy quarks and gluons liberated in relativistic hadron collisions. The last few years have witnessed an explosion of interest in jet substructure from both experimentalists and theorists. These substructure observables are derived from exploiting the information present in the clustering algorithms. Since jets are inherently multi-scale objects, the include both perturbative and non-perturbative physics. In this talk I will start with a pedagogical introduction to jet substructure and discuss the evolution of the observables from the last decade to the current state-of-the-art measurements from both hadron and electron-proton colliders. We then look forward to data from the upcoming RHIC runs, preview the planned substructure measurements in both small systems (proton-proton and proton-Gold collisions) and heavy ion (Gold-Gold) collisions and provide an pathway towards discovery physics outlined at the EIC.