#include <bits/stdc++.h>
using namespace std;
#define rep(i,n) for(int i = 0; i < (int)n; i++)
using ll = long long;

double eps = 1e-8;

struct Point {
  double x, y;
  Point(double x = 0.0, double y = 0.0) : x(x), y(y) {}  
  double norm() {return sqrt(x*x + y*y);}
};

Point operator + (const Point &p, const Point &q) {return Point(p.x + q.x, p.y + q.y);};
Point operator - (const Point &p, const Point &q) {return Point(p.x - q.x, p.y - q.y);};
double operator * (const Point &p, const Point q) {return p.x * q.x + p.y * q.y;};
bool operator == (const Point &p, const Point &q) {return (abs(p.x - q.x) < eps && abs(p.y - q.y) < eps);};
bool operator != (const Point &p, const Point &q) {return !(p == q);};

struct Line {
  double a, b, c;
  Line(double a, double b, double c) : a(a), b(b), c(c) {}
  Line(Point p, Point q) {
    a = q.y - p.y;
    b = p.x - q.x;
    c = q.x * p.y - p.x * q.y;
  }
};

struct Circle {
  double r;
  Point p;
  Circle(Point p = Point(0.0, 0.0), double r = 0.0) : p(p), r(r) {}
};

vector<Point> circle_line_cross(Line l, Circle c) {
  vector<Point> vp;
  Point h;
  h.x = c.p.x - l.a * (l.a*c.p.x + l.b*c.p.y + l.c) / (l.a*l.a + l.b*l.b);
  h.y = c.p.y - l.b * (l.a*c.p.x + l.b*c.p.y + l.c) / (l.a*l.a + l.b*l.b);

  double d = l.a*c.p.x + l.b*c.p.y + l.c;
  double q = c.r*c.r - d*d / (l.a*l.a + l.b*l.b);
  Point p1, p2;
  p1.x = h.x + sqrt(q) * l.b / sqrt(l.a*l.a + l.b*l.b);
  p1.y = h.y - sqrt(q) * l.a / sqrt(l.a*l.a + l.b*l.b);
  p2.x = h.x - sqrt(q) * l.b / sqrt(l.a*l.a + l.b*l.b);
  p2.y = h.y + sqrt(q) * l.a / sqrt(l.a*l.a + l.b*l.b);
  if(abs(l.b) < eps) {
    if(l.a > 0) {
      vp.push_back(p1);
      vp.push_back(p2);
    } else {
      vp.push_back(p2);
      vp.push_back(p1);
    }
  } else if(l.b > eps) {
    vp.push_back(p2);
    vp.push_back(p1);
  } else {
    vp.push_back(p1);
    vp.push_back(p2);
  }
  return vp;
} 

int main(){
  double cx, cy, r;
  cin >> cx >> cy >> r;
  Circle c(Point(cx,cy),r);
  int q;
  cin >> q;
  rep(i,q) {
    double x1, x2, y1, y2;
    cin >> x1 >> y1 >> x2 >> y2;
    Line l(Point(x1,y1),Point(x2,y2));
    vector<Point> ans = circle_line_cross(l,c);
    printf("%.9lf %.9lf %.9lf %.9lf\n",ans[0].x,ans[0].y,ans[1].x,ans[1].y);
  }
  return 0;
}
