To follow the argument below, you will need to draw a diagram.
Let $O$ be the centre of the wheel, and $T$ the top of the wheel.
Draw a perpendicular from $Q$ to the vertical line $OT$, meeting that line at $X$. The height of the point $Q$ (and therefore of $X$) is $16$, and the height of $T$ is $17$. It follows that $XT=1$ and therefore $OX=7$.
Let $\theta=\angle QOX$. We have $\cos\theta=\frac{7}{8}$. In $4$ seconds the wheel travels through an angle $\theta$. So in $8$ seconds it travels through an angle $2\theta$.
We can find $\cos 2\theta$ approximately, using a calculator, or exactly, using $\cos 2\theta=2\cos^2\theta-1$. Let's go for exactly. We get $\cos 2\theta=\frac{34}{64}$.
Now we can find the height of point $P$. The picture is much like the one we worked with for $Q$. Draw a perpendicular from $P$ to the vertical line $OT$, meeting that line at $Y$. Then $OY=8\cos 2\theta$. So the height of $P$ above the centre of the wheel is $8\cos 2\theta$, and therefore the height above the ground is $9+8\cos 2\theta$.