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    I was faithfully doing a for loop for 1 rotation inside a dummy for loop to have k rotations. Then another for loop to output the m'th position. It worked, but O(n) became n*k; too long for 6 test cases. This comment inspired me to use modulus by n and only print the mth position numbers. I tried to understand it in my own way and shorten your code to:

    System.out.println(a[(m-k+n)%n]);