Yeah, of course. I always clean up my a500 drives with alcohol and cotton swabs. Just do it carefully and without too much pressure on the heads to not misalign them, and your disks will be working again. Unfortunately, the amiga 500 drives were known for being prone to getting dirt quickly, as there are no doors that prevent dust and particles getting in.
One note, you will need to dissasemble the amiga and removing the cover of the drive in order to get access to the heads.
