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Attaching/ welding two Components (not pivot on pivot, but with offset and translation of rotation)

Hey guys,

I’m working on a Blueprint with two Components, one of which I grab. The other one I want to “attach” to the grabbed one in that very moment. With that I mean, I want the second component to follow the upcoming movements of the grabbed component, but with a constant offset in location and an adapted rotation. The two components overlap, so they should act like they are welded together (not pivot on pivot but in random places). With “Attach Copmonent to Component” the second component pivot “jumps” on to the grabbed componentns pivot. I DONT WANT THAT.

I hope you understand what I want to achieve. Has anyone got an idea how to implement that?
Thanks for any help!