A ball with diameter 4 inches starts at point A to roll along the track shown. The track is comprised of 3 semicircular arcs whose radii are $R_1 = 100$ inches, $R_2 = 60$ inches, and $R_3 = 80$ inches, respectively. The ball always remains in contact with the track and does not slip. What is the distance the center of the ball travels over the course from A to B?