The penny is just as pointless in the USA as it is in Canada. Of course, the USA is considerably behind Canada in recognizing the changes wrought by inflation. In addition to abolishing the penny, it should abolish the dollar bill and introduce a $2 coin as Canada did many years ago. (If you wanted to be really far-sighted, you could establish a plan for when to abolish the nickel and the $5 bill and introduce a $5 coin.)
Unfortunately, currency reform would not only face stiff opposition from the zinc lobby (because penny is largely zinc now), but from the politically well-connected Crane Company in Massachusetts, which manufactures all of the paper used in printing US currency. The absurdity of vending machines and tollbooths needing to accept paper money (much more expensive than coins) counts for nothing as against a corporation with skilled lobbyists.