/ 2 2 2 \
| 2 acos (t) 3*t *acos (t) 6*t*acos(t)|
3*|- ----------- - ----------- - ------------- + -----------|
| 3/2 3/2 5/2 2|
| / 2\ / 2\ / 2\ / 2\ |
\ \1 - t / \1 - t / \1 - t / \-1 + t / /
$$3 \left(- \frac{3 t^{2} \operatorname{acos}^{2}{\left(t \right)}}{\left(1 - t^{2}\right)^{\frac{5}{2}}} + \frac{6 t \operatorname{acos}{\left(t \right)}}{\left(t^{2} - 1\right)^{2}} - \frac{\operatorname{acos}^{2}{\left(t \right)}}{\left(1 - t^{2}\right)^{\frac{3}{2}}} - \frac{2}{\left(1 - t^{2}\right)^{\frac{3}{2}}}\right)$$