We know that,
Area of a sector , where 'r' is the radius of circle and θ is the angle of sector
For sector APS,
Angle of sector, θ = ∠ PAS = 90 °
[Each angle in a square is a right angle]
Radius of circle, r = 'a'
Putting the above values in formula, we get
Area of sector APS
By symmetry,
Area of sector APS is equal to area of each of sectors DRS, BPQ and CQR.
Also,
Area of shaded(Required) area = area of square ABCD - area of four sectors
⇒ 24 = 6a 2
⇒ a 2 = 4
⇒ a = 2 cm
Hence, radius of each circle is 2 cm.