Planes and boats have carefully designed angles to their surfaces, along with special materials, to reduce the reflection of radar waves. Planes also have things like internal missile storage to reduce the surfaces that radar can reflect off.
Submarines are not detected by radar (at least underwater) but sonar. They use similar ideas to reduce reflection, but mainly rely on quiet propulsion systems and sound proofing the interior, to reduce their chances of being heard by hydrophone systems.
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