Slider Joint

https://assetstore.unity.com/packages/tools/physics/slider-joint-151255#reviews

There are some complexities but to get it working in a basic way, put a hinge joint connecting the pot to an invisible body, and attach a slider joint to connect the invisible body to the hammer. Then you use the motors on both those things to position the hammer.

https://steamcommunity.com/app/240720/discussions/0/1741104717701034568/