Minimum velocity

\(P\) and \(Q\) are two points a distance \(d\) apart at heights \(h\) and \(k\) above a given horizontal plane. What is the minimum speed \(V\) with which a particle can be projected from the horizontal plane so as to pass through \(P\) and \(Q\)?

Clarification: the distance \(d\) apart is the slanted, point-to-point, separation

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