Trigger a scrolling event in a different div when a user scrolls using jQuery

I have two div elements:

When a user scrolls div #element-A and #header-one-target reaches the top of the containing div the last element (#animate-hd-b) in #element-B should scroll to the top of the containing div with a nice animation .

Here's the code that I'm working with to start. The code below does something when the window is scrolled not the div.

$(window).scroll(function() {

  var offsetTop = $('#animate-hd-b').offset().top,
    outerHeight = $('#animate-hd-b').outerHeight(),
    windowHeight = $(window).height(),
    scrollTop = $(this).scrollTop();

  console.log((offsetTop-windowHeight) , scrollTop);

  if (scrollTop > (offsetTop+outerHeight-windowHeight)){
    alert('you have scrolled to the top!');
  }
});

<script src="https://cdnjs.cloudflare.com/ajax/libs/jquery/3.3.1/jquery.min.js"></script>

<div id="element-A" style="background: orange; overflow: auto;">
  <div class="content" style="padding-bottom: 300px;">
    <p>content</p>
    <p>content</p>
    <p>content</p>
    <p>content</p>
    <h1 id="header-one-target">Header One</h1>
  </div>
</div>

<div id="element-B" style="background: yellow; overflow: auto;">
  <div class="content" style="padding-bottom: 300px;">
    <p>content</p>
    <p>content</p>
    <p>content</p>
    <p>content</p>
    <h1 id="animate-hd-b">Animate This Header</h1>
  </div>
</div>

Is there a way to do this in jQuery?

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