Desu vs. Aru/Iru

Hello everyone!

I’m relatively new to japanese and I’ve just learned about Aru and Iru. I know one is for animate and the other is for inanimate.

I previously learned that Desu can mean is or are and can be used at the end of any sentence that is a statement.

However I don’t understand how desu is different from Aru and Iru since these two can also mean “to be”.

Right now I don’t understand the difference between どこですか and
どこにいますか。

I’d really appreciate it if someone could explain the difference and if you’d prefer to say one over the other in different context.

Thanks in advance!

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