For Intrinsic -> Cartesian:
dy/ds = sinw
Using chain rule: dy/dw = (dy/ds)(ds/dw)
You know dy/ds (above)
You can differentiate s = f(w) [which is the equation given], to get ds/dw.
Now you have dy/dw = g(w) [some function in w]
Integrate with respect to w, to get y = h(w) + c [some function in w, plus a constant]
Then you need to find out what happens to y when w=0 (or similar), to find the constant.
Repeat the process with dx/ds = cosw, and dx/dw = (dx/ds)(ds/dw).
You now have x and y in terms of w. So eliminate w to get the cartesian form.
For Cartesian -> Intrinsic:
You have y = f(x), so differentiate to find dy/dx
Now use s = ∫[1+(dy/dx)²]1/2dx, from 0 to x.
Sub in dy/dx, and proceed with the integration, to find s = g(x)
Remember that dy/dx = tanw.
Try to manipulate s = g(x) to incorporate dy/dx, and thus incorporate tanw.
[See Example 10, page 104 of the Heinemann book- that's a rather simple one. I'm not too sure if they get any more complicated when doing cartesian -> intrinsic]
Now you have s = h(w)