Step 1: Use the charging formula for the capacitor in an RC circuit.
The voltage across the capacitor as a function of time is given by the formula:
\[
V(t) = V_0 \left(1 - e^{-t/RC}\right),
\]
where \( V_0 \) is the initial voltage across the capacitor, \( R \) is the resistance, \( C \) is the capacitance, and \( t \) is the time.
Step 2: Calculate the time constant \( \tau = RC \).
The total resistance in the circuit is \( R = 4 \, \text{k}\Omega + 6 \, \text{k}\Omega = 10 \, \text{k}\Omega \), and the capacitance is \( C = 10 \, \mu\text{F} = 10 \times 10^{-6} \, \text{F} \). Therefore, the time constant is
\[
\tau = (10 \times 10^3) \times (10 \times 10^{-6}) = 0.1 \, \text{seconds}.
\]
Step 3: Calculate the voltage across the capacitor at \( t = 2.4 \, \text{ms} = 2.4 \times 10^{-3} \, \text{s} \).
Using the formula for \( V(t) \) with \( V_0 = 20 \, \text{V} \),
\[
V(t) = 20 \left(1 - e^{-(2.4 \times 10^{-3}) / 0.1}\right).
\]
Calculate the exponent:
\[
\frac{2.4 \times 10^{-3}}{0.1} = 0.024 \Rightarrow e^{-0.024} \approx 0.976.
\]
Substitute into the formula:
\[
V(t) = 20 \times (1 - 0.976) = 20 \times 0.024 = 0.48 \, \text{V}.
\]
Final Answer: The voltage across the capacitor at \( t = 2.4 \, \text{ms} \) is \( \boxed{0.5} \, \text{V}. \)