PQRS is a diameter of a circle of radius 6cm. the lengths PQ , QR , and RS are equal .Semicircles are drawn on PQ and QS as diameters. Find the perimeter of the shaded region ??

PQRS is a diameter of a circle of radius 6cm the lengths PQ QR and RS are equal Semicircles are drawn on PQ and QS as diameters Find the perimeter of the shaded class=