2 3*t ----------------- + ----------- / 2\ 3/2 \-1 + t /*asin(t) / 2\ \1 - t / ------------------------------- 2/3 9*asin (t)
2 1 t 10 2*t ------------- + ----------- + ----------------------- - -------------------- 3/2 5/2 3/2 2 / 2\ / 2\ / 2\ 2 / 2\ 3*\1 - t / \1 - t / 27*\1 - t / *asin (t) 3*\-1 + t / *asin(t) ---------------------------------------------------------------------------- 2/3 asin (t)