Whenever you get a square root of an expression with a square and then a constant, it's usually an integration by substitution. Here's the solution, apologies for the plain text - don't quite know how to use LaTeX just yet! Gonna use B in place of theta
Let t = 3sin(B)
Hence:
dt/dB = 3cos(B)
dt = 3cos(B) dB
So, bringing that back into the question:
int [sqrt(9 - t^2)] dt = int [sqrt(9 - (3sin(B))^2)] dt = dt = int [sqrt(9 - (3sin(B))^2) 3cos(B)] dB = int [sqrt(9 - 9sin^2(B)) 3cos(B)] dB = int [3 sqrt(1 - sin^2(B)) 3cos(B)] dB = int [3 sqrt(cos^2(B)) 3cos(B)] dB = int [3cos(B) 3cos(B)] dB = int [9cos^2(B)] dB = int [9cos^2(B)] dB = 9 int [cos^2(B)] dB = 9 int [cos^2(B)] dB
Then you use the identity cos(2B) = 1 + 2cos^2(B) and you're good to go
EDIT: As SocialRhubarb rightly points out below, the identity is not cos(2B) = 1 - 2cos^2(B) as I originally wrote.