asin(t - 1)
d --(asin(t - 1)) dt
1 ----------------- ______________ / 2 \/ 1 - (t - 1)
-1 + t ------------------ 3/2 / 2\ \1 - (-1 + t) /
2 3*(-1 + t) 1 + ------------- 2 1 - (-1 + t) ------------------ 3/2 / 2\ \1 - (-1 + t) /