That's not so bad if you know the position of A and B at all times. Example:

A is at the origin. 
B is traveling around the origin at a distance of 1. (ie, it's orbit is the unit circle)
Let Y be the object leaving A. 

Let the speed of B be such that every second B crosses an axis. So the period of B is 4 seconds. Therefore the position of B at any given point in time is:
(cos(t * pi/2), sin(t * pi/2))

Let the speed of Y be such that every second Y can travel s distance. So after one second, if travelling along the positive x axis, Y will be s away from A. 
Therefore A creates another "orbit" to how far it can go every second based on:

sqrt(x^2+y^2) = s*t

Now you just need to determine what value of t is required to determine when these two things will intersect. 

This is a very simple case but it will more or less work for any 2D situation you would just obviously need to change the numbers around. Since you already have a function for B you can just replace mine with yours. The other equation is the same for every case. 

Now if you add another dimension and introduce physics modeling more of how our world works then this becomes nontrivial and could be very difficult and I'd just avoid it entirely. 

You'll know to wait if it takes longer to travel at the current position than it does at the time it takes to travel at a later position plus the wait time. 

how to calculate intersection time and place of multiple moving arcs
I have a '99 Jetta TDI (diesel) with a cracked oil pan.  I'm looking for the sequence of tightening the bolts and the torque needed for each bolt.  I've been doing to google-fu but can't seem to find it. Does anyone specifically know these details, or where I can maybe find this?

Note: Can someone with priv please put 'oil-pan' and 'bolt-sequence' as tags :)
