I really hate math, and like simple solutions.
That said....
Take 2 pieces of cardboard. Make one 6" dia. Make one 20" dia. Place them as desired, 56" apart from center.
Run the path of the belt with a piece of string, and then trim as needed.
Undo the string, and measure the total length of the string.
See... The answer will be a very accurate length, and you don't need math.
edit: Ok, depending on what kind of belt this is that you are using, and what the pulleys or v-grooves are made from you may need a bit more than what you just measured, just to allow it to slide into the v-groove of the pulley's.
Also, a tensioner for belts as well as with chains is always a good idea. Whether it is a separate roller, or making one of those pulley's (6" or 20") that moves (like an alternator on your car) tension of the belt always needs to be adjusted over time.