Let's denote u2=c/2 - velocity of q with respect to p, u1=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:
u3=1+c2uiu2u1+u2=1+1/20c/2+c/10=53c⋅2120=10560c=0.57c
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