fix grammer errors

docs/modules/tutorials/pages/concepts/math.adoc

@@ -397,7 +397,7 @@ s.getLocalRotation().fromAxes(axes);
 
 === Rotation Matrix
 
-Commonly you might find yourself with a xref:core:math/matrix.adoc[Matrix] defining a rotation. In fact, it's very common to contain a rotation in a Matrix create a Quaternion, rotate the Quaternion, and then get the Matrix back. Quaternion contains a `fromRotationMatrix` method that will create the appropriate Quaternion based on the give Matrix. The `toRotationMatrix` will populate a given Matrix.
+Commonly you might find yourself with a xref:core:math/matrix.adoc[Matrix] defining a rotation. In fact, it's very common to contain a rotation in a Matrix, create a Quaternion, rotate the Quaternion, and then get the Matrix back. Quaternion contains a `fromRotationMatrix` method that will create the appropriate Quaternion based on the given Matrix. The `toRotationMatrix` will populate a given Matrix.
 
 
 ==== Example - Rotate a Spatial Using a Rotation Matrix