How to solve an integral with a quadratic polynomial inside a square root?

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Given the function $c(t)=(t, t, t^2)$ what is its arclength from $1 \le t \le 2$?

I find the derivative and its norm, but am stuck at how to solve the integral:

$$\int\sqrt{ax^2 + b} dx$$

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Hint. Let $$x^2=\frac ba\tan^2 \phi.$$