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How to smoothly connect 2 circles with arc R 5.00

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I'm having trouble with this and I can't get ahold of my professor to clarify.  The diagram I"m trying to copy shows a sort of "shoulder" between two circles with Radius .87 and .38.  The diagram specifies that the curve of the line connecting them is R 5.00.

 

Whenever I try to use a fillet it curves the wrong direction, in as opposed to out.

 

When I try to use an arc connect at tangents the connection isn't smooth once the curve is applied, it doesn't blend into the circles.

 

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