How do I calculate the desired angles for a player's shoulder to make the arm point at a position?

Trying to set the proper angles for a shoulder Motor6D.

I don’t want to animate the arm and I am totally lost on the math to get this done.

I would not recommend using the current angle property that the motor6ds inherit from Motors due to this issue with replication and stuff:

Instead I would recommend doing a CFrame approach to editing the C0 Joint of the motor that has been done before:

However if you do want to calculate the angle you will need to do some vector maths and trigonometry (one way to do it) like in this diagram I drew in MSPaint for this other issue:

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