#include<iostream>
#include<cstdio>
#include<algorithm>
#include<cmath>
#include<vector>
#include<map>
#include<set>
#include<string>
#include<queue>
#include<stack>
using namespace std;
#define MOD 1000000007
#define INF (1<<29)
#define EPS (1e-10)
typedef long long Int;
typedef pair<Int, Int> P;

#define max(x, y) ((x)>(y)?(x):(y))
#define min(x, y) ((x)<(y)?(x):(y))

class Vec{
public:
  double x, y;
  Vec(double x = 0, double y = 0):x(x),y(y){}

  Vec &read(){
    cin >> x >> y;
    return *this;
  }

  void print(){
    printf("%.10lf %.10lf\n", x, y);
  }

  bool operator<(const Vec &other){
    if(x < other.x)return true;
    if(x == other.x && y < other.y)return true;
    return false;
  }
  
  Vec operator+(const Vec &other)
  {
    Vec result = *this;
    result.x += other.x;
    result.y += other.y;
    return result;
  }

  Vec operator-(const Vec &other)
  {
    Vec result = *this;
    result.x -= other.x;
    result.y -= other.y;
    return result;
  }

  Vec operator*(const double &k)
  {
    Vec result = *this;
    result.x *= k;
    result.y *= k;
    return result;
  }

  Vec operator/(const double &k)
  {
    Vec result = *this;
    result.x /= k;
    result.y /= k;
    return result;
  } 
  
  double cross(const Vec &other)
  {
    return x*other.y - y*other.x;
  }

  double dot(const Vec &other){
    return x*other.x + y*other.y;
  }
  
  bool operator==(const Vec &other) const
  {
    return abs(x - other.x) < EPS && abs(y - other.y) < EPS;
  }

  double norm()
  {
    return sqrt(x*x+y*y);
  }

  double norm2()
  {
    return x*x+y*y;
  }

  Vec standard(){
    Vec result = *this;
    return result/result.norm();
  }
};

//cw:1, ccw:-1, other:0
Int CCW(Vec a, Vec b, Vec c){
  b = b - a;
  c = c - a;
  if(b.cross(c) > EPS)return -1;
  if(b.cross(c) < -EPS)return 1;
  return 0;
}

double dist(Vec a, Vec b){
  return (a-b).norm();
}

class Line{
public:
  Vec a, b;
  Vec vect;
  Line(Vec a = Vec(), Vec b = Vec()):a(a),b(b),vect(b-a){}

  //projection
  Vec proj(Vec p){
    p = p - a;
    return a + vect * vect.dot(p) / vect.norm2();
  }

  //reflection
  Vec reflect(Vec p){
    return proj(p) * 2 - p;
  }

  bool onSegment(Vec p){
    return abs((p-a).cross(b-a)) < EPS && (p-a).dot(p-b) < EPS;
  }

  //other -> LineSegment(not inclusive), this -> Line
  bool _intersect(Line other){
    return CCW(a, b, other.a) * CCW(a, b, other.b) < 0;
  }

  //other, this: both are LineSegment(inclusive)
  bool intersect(Line other){
    return onSegment(other.a) || onSegment(other.b) || other.onSegment(a) || other.onSegment(b) || _intersect(other) && other._intersect(*this);
  }

  //low accuracy
  Vec crossPoint(Line &other){
    double ratio = (a - other.a).cross(vect) / other.vect.cross(vect);
    return other.a + other.vect * ratio;
  }

  double dist(Vec p){
    Vec pp = proj(p);
    if(onSegment(pp))return ::dist(p, pp);
    else return min(::dist(p, a), ::dist(p, b));
  }
  
  double dist(Line &other){
    if(intersect(other))return 0;
    return min(min(dist(other.a), dist(other.b)), min(other.dist(a), other.dist(b)));
  }
};



int main(){
  Vec c, p1, p2;
  double r;
  c.read();cin >> r;
  Int q;
  cin >> q;
  while(q--){
    p1.read();
    p2.read();
    Line l(p1, p2);
    Vec h = l.proj(c);
    double v = sqrt(r * r - (h-c).norm2());
    Vec ans1 = h + l.vect.standard() * v;
    Vec ans2 = h - l.vect.standard() * v;
    if(!(ans1.x < ans2.x || ans1.x == ans2.x && ans1.y < ans2.y))swap(ans1, ans2);
    printf("%.10lf %.10lf %.10lf %.10lf\n", ans1.x, ans1.y, ans2.x, ans2.y);
  }
  
  

  return 0;
}


Measured memory_bytes: 3296