The cat is UNDER the table
In this sentence, the word "under" showcases the location of the cat (subject) with regard to the table (object),
hence under is a preposition.
The words "cat" and "table" are nouns and "under" is used after the subject noun
We use on to refer a surface.
On is a preposition here.
On: کسی چیز کے اوپر ہونا
The lamp is on the table.
AGM 5.2.23
The preposition "in" is used to show something is inside a space or place.
Furniture is inside a room, so "in their room" is the correct usage.
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