Part (a)
Note that PQ is equal to PS + QR - RS. Since PQ is 4 cm and PS and QR are both radii (3 cm each), then this means 4=6-RS, and thus RS = 2 cm.
Part (b)
Yes, because PA, QA, PB, and QB are all radii of congruent circles, and thus all have the same length. This means triangles APQ and BPQ both have two equal sides, and thus isosceles.