acos(2*t)
d --(acos(2*t)) dt
-2 ------------- __________ / 2 \/ 1 - 4*t
-8*t
-------------
3/2
/ 2\
\1 - 4*t /
/ 2 \
| 12*t |
-8*|1 + --------|
| 2|
\ 1 - 4*t /
-----------------
3/2
/ 2\
\1 - 4*t /