Problem setting: A man with a boat at point S at sea wants to get to point Q inland. Point S is distance d1 from the closest point P on the shore, point Q is distance d2 from the closest point T on the shore. The points P and T are at a distance of d from each other.
Question: If the man rows with a speed of v_r and walks with a speed of v_w at what point R should he beach the boat in order to get from point S to point Q in the least possible time? 

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