Triangle $ABC$ has a right angle at $A$, $AB=20$, and $AC=21$. Circles $\omega_A$, $\omega_B$, and $\omega_C$ are centered at $A$, $B$, and $C$ respectively and pass through the midpoint $M$ of $\overline{BC}$. $\omega_A$ and $\omega_B$ intersect at $X\neq M$, and $\omega_A$ and $\omega_C$ intersect at $Y\neq M$. Find $XY$.

Let's think step by step and output the final answer within \boxed{}.
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