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locus of endpoints of auto able to move on 2 different angles to the right

Source: 2021 Sharygin Geometry Olympiad Finals grades X-XI p8

August 2, 2021
geometryLocusarc

Problem Statement

On the attraction "Merry parking", the auto has only two position* of a steering wheel: "right", and "strongly right". So the auto can move along an arc with radius r1r_1 or r2r_2. The auto started from a point AA to the Nord, it covered the distance \ell and rotated to the angle a<2πa < 2\pi. Find the locus of its possible endpoints.