Filter available Case Contacts from the Account Contact relationship table

Question

We would like to filter Contacts available to a Case to be based on an Account-Contact association to the Account referenced in the Case. Example: Contact Bob is associated to Accounts A, B, C, D. Bob has a 'Direct' Account association to Account A. If a Case is created for any of Bob's associated Accounts, we would like Bob (and any other Contacts related to A, B, C and D) to be available as Case Contacts... without including the larger population of Contact from other Accounts.