Hello. I follow your instruction and I found the following integral
[t-t_o=-l\sqrt{\frac{m}{2}} \int \frac{du}{\sqrt{(1-u^2)(E+mglu)-\frac{M_z^2}{2ml^2}}}\]
After of that I was checking the book that you said, nontheless its not clear for me how this integral has the same form that you...