If we restrict the domain of #cos# to #[0, pi]# then it is a one-one function onto its range #[-1, 1]# with inverse #arccos#.
So #arccos# is defined to have range #[0, pi]#,
If #theta in [0, pi]# then #arccos(cos(theta)) = theta#
If #theta in [-pi, 0]# then #arccos(cos(theta)) = -theta#
If #theta = varphi + 2n pi# for some #n in ZZ# then #arccos(cos(theta)) = arccos(cos(varphi))#