How do I draw a shape like this?

[mare.sampbn]

Hello guys, how do I draw a shape like in the picture below? I do know how to do it by making 2 lines length 4 and then doing arc with radius 5, but I got that radius 5 by trying many numbers lol. Also, how do I get the corners to look like this? They just kinda blend in, my corners remain sharp. 

[mikeevans6697]

draw an ellipse with major radius 4 and minor radius 2 then trim it at the apporpriate spot (x2)

[mare.sampbn]

Oh, I understand it now 😄 Thank You so much. Also, is there an easier way to draw these 4 circles? I do it like this:
CIRCLE, then I use FROM command and click on the corner, and then enter appropriate coordinates (x 4 for all corners). But I think there should be an easier, less repetitive way to do it. 

[Patchy]

Draw at the intersection then move, copy, mirror.