Can you explain whats going on here? is it some trig identity i dont know or something else?
Factor $R^2$ and note that
$$1- \sin ^2 (x) = \cos ^2 (x).$$
Try this:
$ \sqrt{R^2-R^2(\sin\theta)^2} = \sqrt{R^2(1-\sin^2 \theta)} $
And because
$ 1-\sin^2 (\theta) = \cos^2 (\theta) $
You can get
$ \sqrt{R^2\cos^2 (\theta)} = R\cos(\theta) $
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Factor $R^2$ and note that