It's not obvious.
The trick is in realizing that the middle plane of atoms occupy positions directly above the centroids of the triangles in the base plane. This follows directly from a symmetry argument.
1. Each basal plane has nearest neighbor atoms making equilateral triangles. So, a=2R (where R is the sphere radius).
2. Each atom at height c/2 above the basal plane is positioned directly above the centroid of the triangles in the base plane. For an equilatreral triangle, the distance from a vertex to the centroid is two-thirds the length of the median, and is hence [itex](2/3)*(a\sqrt{3}/2) = a/\sqrt{3}[/itex].
3. Each atom in the base plane has a nearest neighbor in this middle plane. So, the distance from the corner atom in the base plane to the nearby atom in the mid-plane is 2R.
4. This distance can also be calculated from Pythagoras, giving:
[tex]4R^2 = a^2 = (a/\sqrt{3})^2 + (c/2)^2[/tex]
That should get you home.