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Three race tracks made form semi-circles

In a leisure park there are three running tracks, all with the same Start and Finish, and all made from either one or two semicircles with centres on the same line.
Three runners $P$, $Q$ and $R$ start together at the Start and run at the same constant speed along the tracks shown. In what order do they finish?

 
 
If you liked this problem, here is an NRICH task which challenges you to use similar mathematical ideas.  

This problem is taken from the UKMT Mathematical Challenges.
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