check if object element in array 1 exist in array 2?

consider this two array of objects :

const arr1 = [
    {id: 'parent1', title: 'product1', childProducts: [{id: 'child1', title: 'childProduct1'}]},
    {id: 'parent2', title: 'product2', childProducts: [{id: 'child2', title: 'childProduct2'}]},
];

const arr2 = [{id: 'child1', title: 'childProduct1'}];

I need to compare childProducts of arr 1 with arr 2 and somehow filter arr 1 like below:

const result = [{id: 'parent2', title: 'product2', childProducts: [{id: 'child2', title: 'childProduct2'}]}]

in other words, I need to return elements from arr1 that their childProducts are not in arr2 (whith help of loops).
how can I achieve this?