2sin−1(sqrt(2+(1−P)cos(φ1+φ2)−(1+P)cos(φ1−φ2))/2)
where P=cos(θ1−θ2).
Phew.
Edit:
cos−1(cosφDcos2θA−cosφSsin2θA)
where φS=φ1+φ2, φD=φ1−φ2 and θA=(θ2−θ1)/2.
2sin−1(sqrt(2+(1−P)cos(φ1+φ2)−(1+P)cos(φ1−φ2))/2)
where P=cos(θ1−θ2).
Phew.
Edit:
cos−1(cosφDcos2θA−cosφSsin2θA)
where φS=φ1+φ2, φD=φ1−φ2 and θA=(θ2−θ1)/2.
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