For this case we have that by definition:
The area of a circle is:

Where r is the radius of the circle.
The area of a square is:

Where l is the side of the square.
The area of the shaded region will be:

So:

On the other hand:

Finally:

Rounding out, we have that the area of the shaded region is 21.5 square centimeters.
Answer:
Option D