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