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wo = 3
w = wo + integral a dt
w = 3 + integral (12t + 4) dt
w = 3 + 6t^2 + 4t
w(t) = 6t^2 + 4t + 3
tetha = integral w dt
tetha = integral (6t^2 + 4t + 3) dt
tetha = 2t^3 + 2t^2 + 3t
tetha(1) = 2 + 2 + 3 = 7 radian