2 asin (t)
d / 2 \ --\asin (t)/ dt
2*asin(t) ----------- ________ / 2 \/ 1 - t
/ 1 t*asin(t) \ 2*|- ------- + -----------| | 2 3/2| | -1 + t / 2\ | \ \1 - t / /
/ 2 \ | asin(t) 3*t 3*t *asin(t)| 2*|----------- + ---------- + ------------| | 3/2 2 5/2 | |/ 2\ / 2\ / 2\ | \\1 - t / \-1 + t / \1 - t / /