diff --git a/README.md b/README.md
index cf8a4ab..f562ffd 100644
--- a/README.md
+++ b/README.md
@@ -36,19 +36,19 @@ Process model:
 
 velocity:
 
-## $v_k = v_{k-1} + aT - \hat{a}_{k-1}T  $  
+## $v_k = v_{k-1} + aT - \hat{a}_{k-1}T$
 
 displacement:
 
-## $y _k = y _{k-1} + v _{k-1}T + {a \over 2}T^2 - {\hat{a} _{k-1} \over 2}T^2  $  
+## $y _k = y _{k-1} + v _{k-1}T + {a \over 2}T^2 - {\hat{a} _{k-1} \over 2}T^2$
 
 displacement_integral:
 
-## $z _k = z _{k-1} + y _{k-1}T + {v _{k-1} \over 2}T^2 + {a \over 6}T^3 - {\hat{a} _{k-1} \over 6}T^3  $  
+## $z _k = z _{k-1} + y _{k-1}T + {v _{k-1} \over 2}T^2 + {a \over 6}T^3 - {\hat{a} _{k-1} \over 6}T^3$
 
 accelerometer bias:
 
-## $\hat {a} _k = \hat {a} _{k-1}  $  
+## $\hat {a} _k = \hat {a} _{k-1}$
 
 
 ### Implementation Notes