The Philippines said a Chinese maritime militia vessel “deliberately sideswiped” and caused minor damage on a government fisheries boat in the South China Sea amid lingering tensions between the two nations in the disputed waters.

Thousands of US and Filipino marines launched 10 days of joint exercises in the northern and western Philippines on Tuesday, a day after China held huge drills around Taiwan. The joint US-Filipino exercises come amid a series of escalating confrontations between China and the Philippines over reefs and waters in the South China Sea,

China launched a large military drill surrounding Taiwan to warn against independence. NBC News' Janis Mackey Frayer reports on the growing tensions.

Taiwan's military says it is staying on guard after China finished a day of military exercises around the island.