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(How To) Physics Arm Constraints

I am trying to create a physics arm, similar to a camera crane arm that can extend and bend at joints. I don’t even know where to start to set up the physics constraints to enable this. Something where a character can grab a point on the arm and move it around, and the attached pieces of the arm would move with it. Is there any content or tutorials that anyone knows of that demonstrate how to do this? Similar to something like in this video?
https://www.youtube.com/watch?v=rHnO3UDHqVs