\begin{tikzpicture}[line join = round, line cap = round, >=triangle 45]
\draw[->] (0,0) -- (6.2,0);
\foreach \x in {0,1,2,3,4,5,6}
\draw[shift = {(\x,0)}, color = black] (0pt,2pt) -- (0pt,-2pt) node[below] {\footnotesize $\x$};
\draw[<-] (0,-2) -- (0,0);
\foreach \y in {0,-1}
\draw[shift = {(0,\y)}] (2pt,0pt) -- (-2pt,0pt) node[left] {\footnotesize $\y$};
\draw (0pt,-10pt) node[fill = white] {\footnotesize $0$};
\clip(0,-2) rectangle (6.2,0);
\draw[smooth, samples = 100, domain = 0:6.28319] plot[parametric] function{t - sin((t)*180/pi), -1 + cos((t)*180/pi)};