using System;
using System.IO;
using System.Linq;
using System.Text;
using System.Collections.Generic;
using System.Diagnostics;
//using System.Numerics;
using Enu = System.Linq.Enumerable;

public class Program
{
    public void Solve()
    {
        var P = new Point(Reader.Double(), Reader.Double());
        double R = Reader.Double();
        int NQ = Reader.Int();


        for (int q = 0; q < NQ; q++)
        {
            var A = new Point(Reader.Double(), Reader.Double());
            var B = new Point(Reader.Double(), Reader.Double());
            var line = new Line(A, B);
            var cross = Intersection(P, R, line);
            if (cross.Length == 1) Console.WriteLine(cross[0] + " " + cross[0]);
            else Console.WriteLine(cross[0] + " " + cross[1]);
        }

        Console.ReadLine();
    }

    public Point[] Intersection(Point circleCenter, double r, Line line)
    {
        const double EPS = 1e-10;
        var v = line.B - line.A;
        var p = line.A + v * (v.Dot(circleCenter - line.A) / v.Dot(v));
        double d = p.Distance(circleCenter);
        if (d > r) return new Point[0];
        if (Math.Abs(d - r) < EPS) return new Point[1] { p };
        var e = (line.B - line.A) * (1.0 / (line.B - line.A).Norm);
        var m = Math.Sqrt(r * r - (p - circleCenter).Dot(p - circleCenter));
        var A = p - e * m;
        var B = p + e * m;
        if (A.CompareTo(B) <= 0) return new Point[] { A, B };
        return new Point[] { B, A };
    }

    public class Line
    {
        public Point A, B;
        public Point this[int i]
        {
            get { if (i == 0) return A; if (i == 1) return B; throw new ArgumentException(); }
        }
        public Line(Point a, Point b) { Debug.Assert(a != b); A = a; B = b; }
        public override string ToString() { return A + " - " + B; }
    }

    public struct Point : IEquatable<Point>, IComparable<Point>
    {
        public static readonly double Eps = 1e-10;
        public double X, Y;
        public string Label;

        public Point(double x, double y) { X = x; Y = y; Label = ""; }
        public Point(double x, double y, string s) { X = x; Y = y; Label = s; }

        public static Point operator +(Point a, Point b)
        {
            return new Point(Add(a.X, b.X), Add(a.Y, b.Y));
        }
        public static Point operator -(Point a, Point b)
        {
            return new Point(Add(a.X, -b.X), Add(a.Y, -b.Y));
        }
        public static Point operator *(double d, Point p)
        {
            return new Point(p.X * d, p.Y * d);
        }
        public static Point operator *(Point p, double d) { return d * p; }
        public double Norm { get { return Math.Sqrt(Add(X * X, Y * Y)); } }
        public double Distance(Point b) { return (b - this).Norm; }
        public double Dot(Point b) { return Add(X * b.X, Y * b.Y); }
        public double Det(Point b) { return Add(X * b.Y, -Y * b.X); }
        public bool Equals(Point b) { return X == b.X && Y == b.Y; }
        public override bool Equals(object obj) { return Equals((Point)obj); }
        public static bool operator ==(Point a, Point b) { return a.Equals(b); }
        public static bool operator !=(Point a, Point b) { return !a.Equals(b); }
        public int CompareTo(Point b) { return X != b.X ? Math.Sign(X - b.X) : Math.Sign(Y - b.Y); }
        public override int GetHashCode() { return (int)(X * 100000 + Y); }
        public override string ToString() { return X + " " + Y; }

        private static double Add(double a, double b)
        {
            if (Math.Abs(a + b) < Eps * (Math.Abs(a) + Math.Abs(b))) return 0;
            return a + b;
        }
    }
}


class Entry { static void Main() { new Program().Solve(); } }
class Reader
{
    private static TextReader reader = Console.In;
    private static readonly char[] separator = { ' ' };
    private static readonly StringSplitOptions op = StringSplitOptions.RemoveEmptyEntries;
    private static string[] A = new string[0];
    private static int i;
    private static void Init() { A = new string[0]; }
    public static void Set(TextReader r) { reader = r; Init(); }
    public static void Set(string file) { reader = new StreamReader(file); Init(); }
    public static bool HasNext() { return CheckNext(); }
    public static string String() { return Next(); }
    public static int Int() { return int.Parse(Next()); }
    public static long Long() { return long.Parse(Next()); }
    public static double Double() { return double.Parse(Next()); }
    public static int[] IntLine() { return Array.ConvertAll(Split(Line()), int.Parse); }
    public static int[] IntArray(int N) { return Enu.Range(0, N).Select(i => Int()).ToArray(); }
    public static int[][] IntTable(int H) { return Enu.Range(0, H).Select(i => IntLine()).ToArray(); }
    public static string[] StringArray(int N) { return Enu.Range(0, N).Select(i => Next()).ToArray(); }
    public static string Line() { return reader.ReadLine().Trim(); }
    private static string[] Split(string s) { return s.Split(separator, op); }
    private static string Next() { CheckNext(); return A[i++]; }
    private static bool CheckNext()
    {
        if (i < A.Length) return true;
        string line = reader.ReadLine();
        if (line == null) return false;
        if (line == "") return CheckNext();
        A = Split(line);
        i = 0;
        return true;
    }
}

Measured memory_bytes: 9684