Avoid collision using proximity


I’m trying to write some code for an avoid-collision-using-proximity system.
Basically, I have several circles (actually PVD3 objects) and I want the objects to avoid each other in an arc-type motion when within a certain distance. (See img).

I got the proximity thing down, but I’m having trouble finding the direction in where to yaw the object. If an object approaches another on the right side, it should yaw to the right, if on the left, it should yaw to the left. (See img).

Any ideas on this would be highly appreciated!