I am wondering how could I do and if it possible to interact with rigid body objects? Who can help me, please ... thank you!
The object could be a simple (say) Bezier curve, with a Bevel Object (another curve) assigned to it in its Properties > Geometry panel.
The 'Tilt' property of individual control points on a Bezier curve is keyable:
So just right-click it to set keyframes appropriately.. if you want a loop, set first and last keys to be visually identical, and go into the property's f-Curve, hit T, and ensure that the interpolation between the keys is 'Linear'.