How do I make predictive aiming with Arc?

I'm trying to make a tower defense game, but I'm having trouble making the friendly weapons predict incoming enemy and make them shoot just in time.

Here is a video example of what I'm trying to program:

skip to 4:09 (check out the character throwing rocks)

https://youtu.be/zy0ZkpkFiCo?t=249

Another example:

https://www.dropbox.com/s/hn5grx188skcb ... g.png?dl=0

This is a built in functionality.

[quote:8y22r9q9]Predictive aim

A useful feature of the Turret behavior is the ability to use predictive aim.

https://www.scirra.com/manual/152/turret

— Yeah I checked that out already, but doesn't help because I'm trying to make the friendly AI predict and shoot projectiles with an arc just like the link below

https://www.dropbox.com/s/hn5grx188skcb ... g.png?dl=0