3 asin (t)
2 3*asin (t) ----------- ________ / 2 \/ 1 - t
/ 2 t*asin(t) \ 3*|- ------- + -----------|*asin(t) | 2 3/2| | -1 + t / 2\ | \ \1 - t / /
/ 2 2 2 \ | 2 asin (t) 3*t *asin (t) 6*t*asin(t)| 3*|----------- + ----------- + ------------- + -----------| | 3/2 3/2 5/2 2| |/ 2\ / 2\ / 2\ / 2\ | \\1 - t / \1 - t / \1 - t / \-1 + t / /