diff --git a/src/Collision.cc b/src/Collision.cc
index ca944712d..2fc32efd0 100644
--- a/src/Collision.cc
+++ b/src/Collision.cc
@@ -291,18 +291,8 @@ void Collision::CalculateInertial(
   // 3. DensityDefault value.
   else
   {
-    // If density was not explicitly set, send a warning
-    // about the default value being used
+    // If density was not explicitly set, default value is used
     density = DensityDefault();
-    Error densityMissingErr(
-      ErrorCode::ELEMENT_MISSING,
-      "Collision is missing a <density> child element. "
-      "Using a default density value of " +
-      std::to_string(DensityDefault()) + " kg/m^3. "
-    );
-    enforceConfigurablePolicyCondition(
-      _config.WarningsPolicy(), densityMissingErr, _errors
-    );
   }
 
   // If this Collision's auto inertia params have not been set, then use the
diff --git a/src/Link_TEST.cc b/src/Link_TEST.cc
index d7e0b1e3c..0b5899922 100644
--- a/src/Link_TEST.cc
+++ b/src/Link_TEST.cc
@@ -777,7 +777,7 @@ TEST(DOMLink, ResolveAutoInertialsWithMass)
 {
   // A model with link inertial auto set to true.
   // The inertia matrix is specified but should be ignored.
-  // <mass> is speicifed - the auto computed inertial values should
+  // <mass> is specified - the auto computed inertial values should
   // be scaled based on the desired mass.
   std::string sdf = "<?xml version=\"1.0\"?>"
   "<sdf version=\"1.11\">"
@@ -826,7 +826,7 @@ TEST(DOMLink, ResolveAutoInertialsWithMassAndMultipleCollisions)
 {
   // A model with link inertial auto set to true.
   // The inertia matrix is specified but should be ignored.
-  // <mass> is speicifed - the auto computed inertial values should
+  // <mass> is specified - the auto computed inertial values should
   // be scaled based on the desired mass.
   std::string sdf = "<?xml version=\"1.0\"?>"
   "<sdf version=\"1.11\">"