I see what you’re looking for now.
But… is there some reason you need the peg to be the pawn?
Let it float as a lower component in the hierarchy and move it from the pawn.
You can even use constricts on all 3 angles on the pawn and still let the peg rotate.
I put together a really quick (and definitely messy) example project.
Pchink.zip
It has a movable component with no rotation as the pawn’s central component, and the peg follows it on a timer.
It’s not pretty but it should give you the idea.