Let $O, A, B$ and $C$ be four points with position vectors $\mathbf{0}, \mathbf{a}, \mathbf{b}$ and $\mathbf{c}$, and denote by $\mathbf{g}=\lambda \mathbf{a}+\mu \mathbf{b}+v \mathbf{c}$ the position of the centre of the sphere on which they all lie.
(a) Prove that $\lambda, \mu$ and $v$ simultaneously satisfy
$$
(\mathbf{a} \cdot \mathbf{a}) \lambda+(\mathbf{a} \cdot \mathbf{b}) \mu+(\mathbf{a} \cdot \mathbf{c}) v=\frac{1}{2} a^{2}
$$
and two other similar equations.
(b) By making a change of origin, find the centre and radius of the sphere on which the points $\mathbf{p}=3 \mathbf{i}+\mathbf{j}-2 \mathbf{k}, \mathbf{q}=4 \mathbf{i}+3 \mathbf{j}-3 \mathbf{k}, \mathbf{r}=7 \mathbf{i}-3 \mathbf{k}$ and $\mathbf{s}=6 \mathbf{i}+\mathbf{j}-\mathbf{k}$ all lie.