Here's my solution from the TST:
Apply a symmetry to the triangle wrt to

. Clearly, the new triangle, if different from the original will also be circumscribed/inscribed to

and

respectively. Hence for the problem to be true, we need to show that all centroids lie on a circle of center lying on

. Assume we have found this center

. Moreover assume it lies on

. Let

. For

to be a constant value (not depending on the chosen triangle), we are looking to express

as a function only of

and

(not depending on other elements of the triangle). Since

and

remain constant, the solution will be done. In fact we are looking for a constant

so that

.
So here we go:
From Stewart Relation

, or

.
Well,

, hence we need only look at

. Use Leibniz to obtain
![3E = (1 - \lambda)\left [IA^2 + IB^2 + IC^2 - \frac13(a^2 + b^2 + c^2)\right] + \lambda\left[3R^2 - \frac13(a^2 + b^2 + c^2)\...](http://data.artofproblemsolving.com/images/latex/7/1/8/718841ed840c3b8bf7caafaab89d3e8e187cf99d.gif)
.
Hence we are looking for a

so that

to equal

. Let

. Note that

, so
![E' = 3\alpha r^2 + \alpha[(p - a)^2 + (p - b)^2 + (p - c)^2] - (a^2 + b^2 + c^2)](http://data.artofproblemsolving.com/images/latex/9/7/6/9767b7f9ccb73802eec899099767749ca02c45f9.gif)
. Finally, we must find an

so that
![F = \alpha[(p - a)^2 + (p - b)^2 + (p - c)^2] - (a^2 + b^2 + c^2) = h(R,r)](http://data.artofproblemsolving.com/images/latex/e/c/4/ec4db750d89d9d1f21af05b27231c5ee362cd9f8.gif)
.
Using

and

, we get
![F = - \alpha p^2 + (\alpha - 1)(\sum a^2) = - \alpha p^2 + (\alpha - 1)[4p^2 - 2(r^2 + p^2 + 4Rr)]](http://data.artofproblemsolving.com/images/latex/7/0/f/70fe70f80cd4ff120ddedfac620cf44ef289de22.gif)
. Further

.
So taking

, works. That means,

. Hence, all centroids lie on a circle with center

, so that

. Moreover, tracking back the 'ignored' functions of

and

, we easily get

.
Actually, as I now realize, using

, the above is a proof for

, from which follows Feuerbach's Theorem: the Nine-Point Circle is tangent to the incircle (because radius of 9-point circle is

).