Relative to an origin O let the position of A be $\underline a$, and so on.
From the given information we have $$(\underline p-\underline a).(\underline b-\underline c)=0$$
$$(\underline b-\underline q).(\underline c-\underline a)=0$$
The angle in a semicircle is a right angle also gives us $$(\underline p-\underline c).(\underline b-\underline p)=0$$
$$(\underline q-\underline c).(\underline a-\underline q)=0$$
We need to show that $$(\underline c-\underline p).(\underline c-\underline p)=(\underline c-\underline q).(\underline c-\underline q)$$ which is equivalent to showing $$\underline p.\underline p-\underline q.\underline q=2(\underline c.\underline p-\underline c.\underline q)$$
To get this result, expand the third and fourth equations and subtract them. This gives $$\underline p.\underline p-\underline q.\underline q=\underline c.\underline p-\underline c.\underline q+[\underline p.\underline b-\underline c.\underline b+\underline a.\underline c-\underline a.\underline q]$$
However, if we expand the first two equations and subtract them we also get, after rearrangement, $$\underline p.\underline b-\underline c.\underline b+\underline a.\underline c-\underline a.\underline q=\underline c.\underline p-\underline c.\underline q$$
So the required result follows immediately