AIME 2004a Problem 14

A unicorn is tethered by a $20$-foot silver rope to the base of a magician's cylindrical tower whose radius is $8$ feet. The rope is attached to the tower at ground level and to the unicorn at a height of $4$ feet. The unicorn has pulled the rope taut, the end of the rope is $4$ feet from the nearest point on the tower, and the length of the rope that is touching the tower is $\frac{a-\sqrt{b}}c$ feet, where $a, b,$ and $c$ are positive integers, and $c$ is prime. Find $a+b+c.$