There are a few ways to get that done, but the important point is if you want it to be continuous the two arc centres should be on a straight line that passes through the tangent point. I placed the yellow dashed circles first to find the lower arc's center point, that gives you 2 points for drawing the straight green line, then you just have to find the point on that green line for the upper arc.

Tan.jpg

And this way starting from the top arc

Tan2.jpg

The dwg is for the first method, I'll let you figure out the points for the second

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