Let's denote "u_2=c\/2" - velocity of q with respect to p, "u_1=c\/10" - velocity of r with respect to q.
To find the velocity of r measure in p, we need to use relativistic formula for velocity addition:
"u_3 = \\frac{u_1+u_2}{1+\\frac{u_iu_2}{c^2}} = \\frac{c\/2+c\/10}{1+1\/20}= \\frac{3c}{5} \\cdot\\frac{20}{21} = \\frac{60c}{105} = 0.57c"
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