How do you take the integral of 2 * sqrt((t^2 + 1)) ? Can you label notes on each step? I can't see how it is solved. I tried u substitution, but it is ending up with two different variables.

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How do you take the integral of 2 * sqrt((t^2 + 1)) ? Can you label notes on each step? I can't see how it is solved. I tried u substitution, but it is ending up with two different variables.
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