Find the exact values for the lengths of the labeled segments $a$, $b$ and $p$ drawn in green, red, and blue, respectively. Note that $r = 4$ is the radius of the circle, and $s = 3$ is the arc length from the point $(4,0)$ around the circle to the indicated point. $a =$  help (numbers) $b =$  help (numbers) $p =$  help (numbers)

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