Substitute
, so that
. The integral is then equivalent to



In general,
, so
.
We want the substitution made above to be reversible, so that
. This restricts
to the interval
, and over this interval we have
, so we take the positive square root in order that
.
Then the integral becomes

which can be computed in several ways. One method is to integrate by parts, taking


so that





Then with
, you have
and
, which follows from the Pythagorean identity. So
