$$Cos^{-1}(\frac{1}{2})+2\ \sin^{-1}(\frac{1}{a^{2}})$$
$\frac{4\arcsin(\frac{1}{a^{2}})+\frac{Co}{s}}{2}$
$s\neq 0\text{ and }|a|\geq 1$
$\frac{4\arcsin(\frac{1}{a^{2}})+\frac{Co}{s}}{2}$
