--- a/main/geometry/inst/svgpath2polygon.m	Tue Sep 27 16:08:51 2011 +0000
+++ b/main/geometry/inst/svgpath2polygon.m	Tue Sep 27 16:52:31 2011 +0000
@@ -16,7 +16,7 @@
 %% -*- texinfo -*-
 %% @deftypefn {Function File} @var{P} = svgpath2polygon (@var{SVGpath})
 %% Converts the SVG path structure @var{SVGpath} to an array of polygons 
-%% compatible with the geometry package and matGeom (@url{https://matgeom.sf.net}).
+%% compatible with the geometry package and matGeom (@url{http://matgeom.sf.net}).
 %% 
 %% @var{SVGpath} is a substructure of the SVG structure output by loadSVG. This
 %% function extracts the field named "coord" if there is only one path. If there

--- a/main/mechanics/inst/area_poly2d.m	Tue Sep 27 16:08:51 2011 +0000
+++ b/main/mechanics/inst/area_poly2d.m	Tue Sep 27 16:52:31 2011 +0000
@@ -38,7 +38,7 @@
 end
 
 %!demo
-%! % A parametrized arbitrary triagle and its area
+%! % A parametrized arbitrary triangle and its area
 %!
 %!  triangle = @(a,b,h) [0 0; b 0; a h];
 %!  h = linspace(0.1,1,10);

--- a/main/mechanics/inst/center_mass_poly2d.m	Tue Sep 27 16:08:51 2011 +0000
+++ b/main/mechanics/inst/center_mass_poly2d.m	Tue Sep 27 16:52:31 2011 +0000
@@ -19,7 +19,7 @@
 %%
 %% The polygon is described in @var{p}, where each row is a different vertex.
 %% The algorithm was adapted from P. Bourke web page
-%% @uref{http://local.wasp.uwa.edu.au/~pbourke/geometry/polyarea/}
+%% @url{http://local.wasp.uwa.edu.au/~pbourke/geometry/polyarea/}
 %%
 %% @seealso{inertia_moment_poly2d, area_poly2d}
 %% @end deftypefn

--- a/main/mechanics/inst/inertia_moment_ncpoly2d.m	Tue Sep 27 16:08:51 2011 +0000
+++ b/main/mechanics/inst/inertia_moment_ncpoly2d.m	Tue Sep 27 16:52:31 2011 +0000
@@ -28,7 +28,7 @@
 %% To change a general polygon to this description you can use:
 %% @code{P = P - repmat(center_mass_poly2d(P),size(P,1))}.
 %%
-%% @seealso{}
+%% @seealso{inertia_moment_poly2d, center_mass_poly2d}
 %% @end deftypefn
 
 function I = inertia_moment_ncpoly2d (poly, M)

--- a/main/mechanics/inst/inertia_moment_poly2d.m	Tue Sep 27 16:08:51 2011 +0000
+++ b/main/mechanics/inst/inertia_moment_poly2d.m	Tue Sep 27 16:52:31 2011 +0000
@@ -19,7 +19,7 @@
 %%
 %% The polygon is described in @var{p}, where each row is a different vertex.
 %% @var{m} is the total mass of the polygon, assumed uniformly distributed.
-%% The optinal argument @var{offset} is an origin translation vector. All vertex 
+%% The optional argument @var{offset} is an origin translation vector. All vertex 
 %% are transformed to the reference frame with origin at @var{offset} respect to
 %% the center of mass.
 %%
@@ -28,7 +28,6 @@
 %% To change a general polygon to this description you can use:
 %% @code{P = P - repmat(center_mass_poly2d(P),size(P,1))}.
 %%
-%% @seealso{}
 %% @end deftypefn
 
 function I = inertia_moment_poly2d(poly,mass,offset=[0 0])

--- a/main/mechanics/inst/nloscillator.m	Tue Sep 27 16:08:51 2011 +0000
+++ b/main/mechanics/inst/nloscillator.m	Tue Sep 27 16:52:31 2011 +0000
@@ -14,8 +14,8 @@
 %%    along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 %% -*- texinfo -*-
-%% @deftypefn {Function File} {[ @var{dotx}, @var{dotxdx}, @var{u}] =} nloscilator (@var{t}, @var{x}, @{opt})
-%% Implements a general nonlinear ocscilator.
+%% @deftypefn {Function File} {[ @var{dotx}, @var{dotxdx}, @var{u}] =} nloscillator (@var{t}, @var{x}, @var{opt})
+%% Implements a general nonlinear oscillator.
 %% @tex
 %% $$
 %% \ddot{q} + p(q) + g(\dot{q}) = f(t,q,\dot{q})
@@ -29,7 +29,7 @@
 %%
 %% @end ifnottex
 %% @noindent
-%% where q is the configuration of the system and p(q), g(q') are homogenous
+%% where q is the configuration of the system and p(q), g(q') are homogeneous
 %% polynomials of arbitrary degree.
 %% @tex
 %% $$
@@ -61,24 +61,25 @@
 %% the number of time values given. The first row corresponds to the configurations
 %% of the system and the second row to its derivatives with respect to time.
 %%
-%% @var{opt}: An options strcuture. See the complementary function
+%% @var{opt}: An options structure. See the complementary function
 %% @code{setnloscillator}. The structure containing the fields: 
 %%
 %% @code{Coefficients}: Contains a vector of coefficients for p(x). It follows
-%% the format used for function ppval @code{opt.Coefficients(i) = a_{P+1-i}}.
+%% the format used for function ppval @code{opt.Coefficients(i) = a(P+1-i)}.
 %%
-%% @code{Damping}: Containst a vector of the coefficients for g(x'). Same format
+%% @code{Damping}: Contains a vector of the coefficients for g(x'). Same format
 %% as before.
 %%
 %% @code{Actuation}: An optional field of the structure. If it is present, it
 %% defines the function f(t,q,q'). It can be a handle to a function of the form f =
-%% func(@var{t},@var{x},@var{opt}) or it can be a @code{1xnT} vector.
+%% func(@var{t}, @var{x}, @var{opt}) or it can be a @code{1xnT} vector.
 %%
 %% @strong{OUTPUT}
 %% 
 %% @var{dotx}: Derivative of the state space vector with respect to time. A @code{2xnT} array.
 %%
-%% @var{dotxdx}: When requested, it contains the Jacobian of the system. It is a multidimensional array of size @code{2x2xnT}.
+%% @var{dotxdx}: When requested, it contains the Jacobian of the system. It is a
+%% multidimensional array of size @code{2x2xnT}.
 %%
 %% @var{u}: If present, the function returns the inputs that generate the
 %% sequence of state space vectors provided in @var{x}. To do this the functions

--- a/main/mechanics/inst/pendulum.m	Tue Sep 27 16:08:51 2011 +0000
+++ b/main/mechanics/inst/pendulum.m	Tue Sep 27 16:52:31 2011 +0000
@@ -14,7 +14,7 @@
 %%    along with this program. If not, see <http://www.gnu.org/licenses/>.
 
 %% -*- texinfo -*-
-%% @deftypefn {Function File} {[ @var{dotx}, @var{dotxdx}, @var{u}] =} pendulum (@var{t}, @var{x}, @{opt})
+%% @deftypefn {Function File} {[ @var{dotx}, @var{dotxdx}, @var{u}] =} pendulum (@var{t}, @var{x}, @var{opt})
 %% Implements a general pendulum.
 %% @tex
 %% $$
@@ -31,8 +31,6 @@
 %% @noindent
 %% where q is the angle of the pendulum and q' its angular velocity
 %%
-%% @end ifnottex
-%% 
 %% This function can be used with the ODE integrators. 
 %%
 %% @strong{INPUTS}
@@ -43,12 +41,12 @@
 %% the number of time values given. The first row corresponds to the configurations
 %% of the system and the second row to its derivatives with respect to time.
 %%
-%% @var{opt}: An options strcuture. See the complementary function
+%% @var{opt}: An options structure. See the complementary function
 %% @code{setpendulum}. The structure containing the fields: 
 %%
 %% @code{Coefficients}: Contains the coefficients (g/l).
 %%
-%% @code{Damping}: Containst the coefficient d.
+%% @code{Damping}: Contains the coefficient d.
 %%
 %% @code{Actuation}: An optional field of the structure. If it is present, it
 %% defines the function f(t,q,q'). It can be a handle to a function of the form f =

--- a/main/mechanics/inst/second_moment_poly2d.m	Tue Sep 27 16:08:51 2011 +0000
+++ b/main/mechanics/inst/second_moment_poly2d.m	Tue Sep 27 16:52:31 2011 +0000
@@ -21,7 +21,7 @@
 %% The output @var{J} contains Ix, Iy and Ixy, in that order.
 %%
 %% The algorithm was adapted from P. Bourke web page
-%% @uref{http://local.wasp.uwa.edu.au/~pbourke/geometry/polyarea/}
+%% @url{http://local.wasp.uwa.edu.au/~pbourke/geometry/polyarea/}
 %%
 %% @seealso{inertia_moment_poly2d, center_mass_poly2d}
 %% @end deftypefn

--- a/main/mechanics/inst/setnloscillator.m	Tue Sep 27 16:08:51 2011 +0000
+++ b/main/mechanics/inst/setnloscillator.m	Tue Sep 27 16:52:31 2011 +0000
@@ -15,8 +15,8 @@
 
 %% -*- texinfo -*-
 %% @deftypefn {Function File} {[ @var{opts}, @var{desc}] =} setnloscilator ()
-%% Returns the requiered options structure for the function nloscillator and a
-%% description of the fileds in the structure.
+%% Returns the required options structure for the function nloscillator and a
+%% description of the fields in the structure.
 %%
 %% @seealso{nloscillator}
 %% @end deftypefn
@@ -26,14 +26,14 @@
 required_fields = {'Coefficients','Damping'};
 reqf_default = {[0.5 0 1];0.01};
 reqf_description = {['Coefficients for the spring polynomial without ' ...
-            'homogenous part. The number of elements is the degree ' ... 
+            'homogeneous part. The number of elements is the degree ' ... 
          'of the polynomial. the first element is the leading coefficient.'];...
          ['Coefficients for the damping polynomial without ' ...
-            'homogenous part. The number of elements is the degree ' ... 
+            'homogeneous part. The number of elements is the degree ' ... 
          'of the polynomial. the first element is the leading coefficient.']};
 
 optional_fields = {'Actuation'};
-optf_description = {['Optinonal field. It defines the forcing function (source)'...
+optf_description = {['Optional field. It defines the forcing function (source)'...
  'f(t). It can be a handle to a function of the form f = func(t,x,opt)' ...
  'or it can be a 1xnT array.']};
 

--- a/main/mechanics/inst/setpendulum.m	Tue Sep 27 16:08:51 2011 +0000
+++ b/main/mechanics/inst/setpendulum.m	Tue Sep 27 16:52:31 2011 +0000
@@ -15,8 +15,8 @@
 
 %% -*- texinfo -*-
 %% @deftypefn {Function File} {[ @var{opts}, @var{desc}] =} setpendulum ()
-%% Returns the requiered options structure for the function pendulum and a
-%% description of the fileds in the structure.
+%% Returns the required options structure for the function pendulum and a
+%% description of the fields in the structure.
 %%
 %% @seealso{pendulum}
 %% @end deftypefn
@@ -25,11 +25,11 @@
 
 required_fields = {'Coefficients','Damping'};
 reqf_default = {1;0};
-reqf_description = {['Ration (g/l), relation between gravity and legnth of the pendulum'];...
+reqf_description = {['Ration (g/l), relation between gravity and length of the pendulum'];...
          ['Damping coefficient, damping is proportional to angular speed.']};
 
 optional_fields = {'Actuation'};
-optf_description = {['Optinonal field. It defines the forcing function (source)'...
+optf_description = {['Optional field. It defines the forcing function (source)'...
  "f(t,q,q'). It can be a handle to a function of the form f = func(t,x,opt)" ...
  'or it can be a 1xnT array.']};