Solve the following math problem efficiently and clearly:

- For simple problems (2 steps or fewer):
Provide a concise solution with minimal explanation.

- For complex problems (3 steps or more):
Use this step-by-step format:

## Step 1: [Concise description]
[Brief explanation and calculations]

## Step 2: [Concise description]
[Brief explanation and calculations]

...

Regardless of the approach, always conclude with:

Therefore, the final answer is: $oxed{answer}$. I hope it is correct.

Where [answer] is just the final number or expression that solves the problem.

Problem: A unicorn is tethered by a $20$-foot silver rope to the base of a magician's cylindrical tower whose radius is $8$ feet. The rope is attached to the tower at ground level and to the unicorn at a height of $4$ feet. The unicorn has pulled the rope taut, the end of the rope is $4$ feet from the nearest point on the tower, and the length of the rope that is touching the tower is $\frac{a-\sqrt{b}}c$ feet, where $a, b,$ and $c$ are positive integers, and $c$ is prime. Find $a+b+c.$
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