It's like the method for constructing ovals. All of the intersections should probably be replaced with trigonometric and algebraic solutions, but the idea is the same.
1) find a point equidistant to the arc start and end points (i.e arc radius minus circle1 radius from circle1 center, and arc radius minus circle2 radius from circle 2 center) this is the arc center
2) construct rays that pass through center points and intersect the circle on the other side
3) since a radius is always tangent to the circle, and this line passes through the center of the circle and the center of the arc we will draw, the two will be cotangent at this point.
4) find a point in between circle intersections and the arc radius from the arc center
5) draw three point arc