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: Two circles are centered at the origin, as shown.  The point $P(8,6)$ is on the larger circle and the point $S(0,k)$ is on the smaller circle.  If $QR=3$, what is the value of $k$?

[asy]
unitsize(0.2 cm);

defaultpen(linewidth(.7pt)+fontsize(10pt));
dotfactor=4;
draw(Circle((0,0),7)); draw(Circle((0,0),10));
dot((0,0)); dot((7,0)); dot((10,0)); dot((0,7)); dot((8,6));
draw((0,0)--(8,6));
label("$S (0,k)$",(0,7.5),W);
draw((13,0)--(0,0)--(0,13),Arrows(TeXHead));
draw((-13,0)--(0,0)--(0,-13));

label("$x$",(13,0),E); label("$y$",(0,13),N); label("$P(8,6)$",(8,6),NE);

label("$O$",(0,0),SW); label("$Q$",(7,0),SW); label("$R$",(10,0),SE);

[/asy]
user