Arc with single radius, that is tangent to two arcs!

I need to find a way to connect two arcs with another arc that is tangent to both arcs. I can do this in Rhino via the Arc command, with the Tangent option, which allows me to select the endpoints of both curves.

Being tangent to the exact endpoint of both curves is most desired, however that is not the important part. If it isn't possible to be tangent at the endpoint of the arcs, as long as it is tangent to somewhere along the arc that will do.

I attached an image of what I need done (first is the input, second is the output). Any tips would be appreciated!