Relative to the origin \(O\), the points \(A\), \(B\), \(C\) have position vectors \(\mathbf{a}\), \(\mathbf{b}\), \(\mathbf{c}\), such that \(OACB\) is a quadrilateral. Let \(P\), \(Q\), \(R\) and \(S\) be the midpoints of the line segments \(OA\), \(AC\), \(CB\) and \(OB\) respectively.
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