asin(3*t)
3 ------------- __________ / 2 \/ 1 - 9*t
27*t ------------- 3/2 / 2\ \1 - 9*t /
/ 2 \ | 27*t | 27*|1 + --------| | 2| \ 1 - 9*t / ----------------- 3/2 / 2\ \1 - 9*t /