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