06. CTRV Integral 2

The general form of the solved integral can be found here .

Question 1: v_k \int_{t_k}^{t_{k+1}} cos(\psi_k + \dot{\psi_k} \cdot (t - t_k)) \space dt = ???

A. \Large \frac{\psi_k}{\dot{v_k}}(cos(\psi_k) - sin(\psi_k))

B. \Large \frac{v_k}{\dot{\psi_k}}(sin(\psi_k + \dot{\psi_k}\Delta t) - sin(\psi_k))

Question 2: v_k \int_{t_k}^{t_{k+1}} sin(\psi_k + \dot{\psi_k} \cdot (t - t_k)) \space dt = ???

A. \Large \frac{v_k}{\dot{\psi_k}}(-cos(\psi_k + \dot{\psi_k}\Delta t) + cos(\psi_k))

B. \Large \frac{\psi_k}{\Delta t}(tan(\psi_k) - sin(\psi_k))