I have this:
you can do this by modifying the Form into:
I added rel attribute to radio buttons. each has a value of the url. I also added a class to get the element with jQuery.
Now, you will need some Javascript, i will use jQuery code:
$('.radio').click(function (){
rad = $(this);
radRel = rad.attr('rel');
$('form#kl').attr('action', radRel);
});