Answer
$V=\pi (R^2-\frac{h^2}{4})h$
Work Step by Step
If $r$ is the radius and $h$ is the height of the cylinder, then the volume is: $V=\pi r^2h$. By Pythagorean Theorem $r=\sqrt{R^2-\frac{h^2}{4}}$, thus $V=\pi (R^2-\frac{h^2}{4})h$
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