It was recognized very early that the ratio of the circumference to its diameter (easier to measure the radius) was a constant. There is a reference in the bible to a kettle having circumference three time its diameter- not a bad estimate for those days. As pointed out above it was Archimedes who got the first really good approximations to pi. Euclid earlier showed that the ratio of circumference to radius is the same for all circles (essentially that all circles are "similar") by dividing two circles into n triangles (select n equally spaced points on the circumference, draw the radii and chords), showing that corresponding triangles in the two circles were similar and therefore the ratio of total of all of the bases to the radii must be the same. Then arguing that, since, as n got larger, the total bases come closer and closer to the circumference the same must be true of the ratio of the circumference to the radius. That's similar to the process of "exhaustion" Archimedes used and a primitive limit process.
If you've taken enough calculus to be able to find the volume of sphere and cone, you should also know that, if y= f(x) then the length of the curve is given by
[tex]\int_{x_0}^{x_1}\sqrt{1+ \left(\frac{df}{dx}\right)^2}dx[/tex]
For the upper half of a circle, of radius R, [itex]f(x)= \sqrt{R^2- x^2}[/itex] so [itex]\frac{df}{dx}= \frac{x}{\sqrt{R^2- x^2}}[/itex].
The integral for the arc length (of the hemisphere) is
[tex]R\int_{-R}^R\frac{dx}{\sqrt{R^2- x^2}}[/itex]<br />
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You will need a trig substitution to do that and make use of the fact that [itex]cos(\pi)[/itex]= 1. Since often sine and cosine are defined in terms of a circle, that is, in a sense "circular reasoning", but it is possible to define sine and cosine independently of a circle (for example as solutions to the differential equation y"= -y with specific initial values) and show that the ratio of circumference to radius is a constant for all circles, that constant being half the period of sine and cosine.[/tex]