diff --git a/python/tutorial.ipynb b/python/tutorial.ipynb
index 8c0bbb69..ba301d2c 100644
--- a/python/tutorial.ipynb
+++ b/python/tutorial.ipynb
@@ -1588,7 +1588,7 @@
         "id": "gwHMy_iRA7Jh"
       },
       "source": [
-        "Let's plot the values measured by our accelometer sensor:"
+        "Let's plot the values measured by our accelerometer sensor:"
       ]
     },
     {
diff --git a/src/engine/engine_util_spatial.c b/src/engine/engine_util_spatial.c
index 7b96d902..c3373a6b 100644
--- a/src/engine/engine_util_spatial.c
+++ b/src/engine/engine_util_spatial.c
@@ -481,7 +481,7 @@ void mju_makeFrame(mjtNum frame[9]) {
     mju_error("xaxis of contact frame undefined");
   }
 
-  // if yaxis undefined, set yaxis to (0,1,0) if possible, otherwize (0,0,1)
+  // if yaxis undefined, set yaxis to (0,1,0) if possible, otherwise (0,0,1)
   if (mju_norm3(frame+3) < 0.5) {
     mju_zero3(frame+3);