Four Leaf Clover

The diagram shows four equal discs and a square. What is the perimeter of the figure?
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Four Leaf Clover


The diagram shows four equal discs and a square. Each disc touches its two neighbouring discs. Each corner of the square is positioned at the centre of a disc. The side length of the square is $\frac{2}{\pi}$. What is the length of the perimeter of the figure?

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