Solve the following math problem efficiently and clearly:

- For simple problems (2 steps or fewer):
Provide a concise solution with minimal explanation.

- For complex problems (3 steps or more):
Use this step-by-step format:

## Step 1: [Concise description]
[Brief explanation and calculations]

## Step 2: [Concise description]
[Brief explanation and calculations]

...

Regardless of the approach, always conclude with:

Therefore, the final answer is: $oxed{answer}$. I hope it is correct.

Where [answer] is just the final number or expression that solves the problem.

Problem: Square $ABCD$ is constructed along diameter $AB$ of a semicircle, as shown. The semicircle and square $ABCD$ are coplanar. Line segment $AB$ has a length of 6 centimeters. If point $M$ is the midpoint of arc $AB$, what is the length of segment $MC$? Express your answer in simplest radical form. [asy]
size(4cm);

dotfactor = 4;
defaultpen(linewidth(1)+fontsize(10pt));

pair A,B,C,D,M;
A = (0,1);
B = (1,1);
C = (1,0);
D = (0,0);
M = (.5,1.5);

draw(A..M..B--C--D--cycle);
draw(A--B);

dot("A",A,W);
dot("M",M,N);
dot("B",B,E);
dot("C",C,E);
dot("D",D,W);

draw(M--C,linetype("0 4"));

[/asy]
user