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Start with the given equation

Expand

Expand

Distribute

Evaluate

to get

. Evaluate

to get

Rearrange the terms.

Combine like terms.

Take the arccosine of both sides

or

Take the arccosine of 1/2 to get

or
Since the value

is NOT in the range [0,2pi), this means that

is NOT a solution
So the first solution is
Now add

to

to get

. Take note how this value is outside the interval [0,2pi). So this value is NOT a solution
Now add

to

to get

. Since this value is inside the interval [0,2pi), this means that

is a solution
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Answer:
So the solutions are

or