  We report jet substructure measurements in $\mathrm{p\kern-0.05em p}$ and
$\mbox{Pb-Pb}$ collisions at $\sqrt{s_{\mathrm{NN}}}=5.02$ TeV with the ALICE
detector. Charged-particle jets were reconstructed at midrapidity with the
ALICE tracking detectors using the anti-$k_{\mathrm{T}}$ algorithm with
resolution parameters $R=0.2$ and $R=0.4$. In $\mathrm{p\kern-0.05em p}$
collisions, the groomed jet momentum fraction, $z_{\mathrm{g}}$, and the
groomed jet radius, $\theta_{\mathrm{g}} \equiv R_{\mathrm{g}}/R$, are measured
for the first time using the Dynamical Grooming method. Additionally, new
systematic measurements of the infrared and collinear (IRC) safe ungroomed jet
angularities are presented. In heavy-ion collisions, we measure
$z_{\mathrm{g}}$ and $\theta_{\mathrm{g}}$ with the Soft Drop grooming
algorithm. The large underlying event in heavy-ion collisions poses a challenge
for the reconstruction of groomed jet observables, since fluctuations in the
background can cause groomed splittings to be misidentified. By using strong
grooming conditions to reduce this background, we report these observables
fully corrected for detector effects and background fluctuations for the first
time, and compare them to several theoretical models.
