If the radius of the circle is 1, the radius of three circles that will be internally tangent is $2\sqrt{3}-3\approx 0.464$ by Soddy's formula, given in the Soddy's circles section of this. You can construct this length, then mark it off on a diameter of the circle to find one of the centers, and finish constructing the equilateral triangle.
Added: For the construction, make a right angle with 1 on one side, swing 2 as a hypotenuse, and you have $\sqrt{3}$. Then you can mark a line to get $2\sqrt{3}-3$. Draw a diameter of the circle you are given and mark off $2\sqrt{3}-3$ from the circumfrence to find the center of one circle. Construct an equilateral triangle of $2(2\sqrt{3}-3)$ bisected by the diameter and you have the three centers.