STEP-BY-STEP ANSWER:
Step 1: Evaluate each component function f(t), g(t), and h(t) at t = a to ensure r(a) is defined.
Step 2: Compute the limit of each component, i.e., lim (t → a) f(t), lim (t → a) g(t), and lim (t → a) h(t).
Step 3: Verify that each of these limits equals the corresponding component of r(a).
Final Answer: r(t) is continuous at t = a if and only if lim (t → a) f(t) = f(a), lim (t → a) g(t) = g(a), and lim (t → a) h(t) = h(a).