This is given by Ohm's law and the definition of capacitance:
\[V_R = IR\]
\[V_C = \frac{1}{C} \int I dt\]
where \(I\) is the current, \(R\) is the resistance, \(C\) is the capacitance, and \(V_R\) and \(V_C\) are the voltages across the resistor and capacitor
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