See the geometry given in fig.
In the ∆OPT, ψ = θ + φ ......(1)
ψ is the angle which the tangent to the curve makes at with the initial axis
θ is the angle which the radius vector OP makes with the initial axis;
φ is the angle which the radius vector encloses with the tangent at P(r, θ).
Equation (1) implies
dψ/ds = dθ/ds + dφ/ds
i.e.
.....(2)
In the ∆PNQ, for the limiting arc when Q approaches to P(back), i.e. when δθ → 0
.....(3)
.....(4)
Now on using (4), (2) becomes
.....(5)
Further, the circle r = a cosθ implies r1 = –a sinθ