Consider a trapezoidal (label it ABCD as follows) cross-section of the truncate cone along a diameter of the bases:
image here.
Above, E, F, and G are points of tangency. By the Two Tangent Theorem, BF = BE = 18 and CF = CG = 2, so BC = 20.
We draw H such that it is the foot of the altitude Segment HD to Segment AB:
image here.
By the Pythagorean Theorem, \(r = \dfrac{DH}{2} = \dfrac{\sqrt{(20)^2 - (16)^2}}{2} = \boxed{6}\).
Hope this helps,
- PM