Just an observation, here. The arcs appear to be half circles, so why not just draw circle chapes with the shape tool and divide them using the patfinder? Seems a lot easier than using the pen tool for this....
By @Peter Spier
That may be just for demonstration purposes.
If you hold Option or Alt as you drag out from the point using the pen tool you will effectively replace the point and its handles with the point you draw. This will let you add control handles. Unfortunately it will replace the control handle on the other side of the point. Maybe add some guides where that handle was so you can return the new handle to the same position.
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