OK, well I've never seen that form, but I'm using R(t) = do + Vox*t - .5Axt^2. Looks to me like s = r(t), u = Vox, and of course Do = 0...
Anyways, The problem I'm running into is simplifiing to a deferentiable form, since I'm trying to find the maximum gamma (probably should solve for gamma...