2*asin(t)
-----------
________
/ 2
\/ 1 - t
$$\frac{2 \operatorname{asin}{\left(t \right)}}{\sqrt{1 - t^{2}}}$$
/ 1 t*asin(t) \
2*|- ------- + -----------|
| 2 3/2|
| -1 + t / 2\ |
\ \1 - t / /
$$2 \left(\frac{t \operatorname{asin}{\left(t \right)}}{\left(1 - t^{2}\right)^{\frac{3}{2}}} - \frac{1}{t^{2} - 1}\right)$$
/ 2 \
| asin(t) 3*t 3*t *asin(t)|
2*|----------- + ---------- + ------------|
| 3/2 2 5/2 |
|/ 2\ / 2\ / 2\ |
\\1 - t / \-1 + t / \1 - t / /
$$2 \cdot \left(\frac{3 t^{2} \operatorname{asin}{\left(t \right)}}{\left(1 - t^{2}\right)^{\frac{5}{2}}} + \frac{3 t}{\left(t^{2} - 1\right)^{2}} + \frac{\operatorname{asin}{\left(t \right)}}{\left(1 - t^{2}\right)^{\frac{3}{2}}}\right)$$