We know the formula of "family of circles intersecting at two points" as follows: $$x^2 + y^2 + D_1 x + E_1 y + F_1 + \lambda (x^2 + y^2 + D_2 x + E_2 y + F_2) = 0, \qquad \lambda \setminus \{-1\} \in \mathbb{R}$$ I could not find any rigorous derivation of the formula, which might involve theorems (linear independence, orthogonality of vectors by dot product) from linear algebra, vector algebra, etc., other than simply multiplying one of the circle equations known to intersect at two points by $\lambda$.
Question: How can we can derive the formula in a more rigorous way if possible?