Standard calculus result. If $p(x),q(x)$ are two polynomials with $\deg(q(x))>\deg(p(x))$, then $$\lim_{x\rightarrow\pm \infty} \frac{p(x)}{q(x)} = 0.$$ You can prove it by dividing top and bottom by the highest power of $x$ appearing in $p$.
In your particular case, the numerator is degree 3 in $R$, and the denominator is degree 6 in $R$.
Also note that $|R^2 e^{2it}+a^2| \geq R^2-a^2$.