I have created a quick set up to demonstrate my question.
The red cylinder needs to rotate around the small blue box and the bottom of the cylinder must remain in the same x,y,z, location. The cylinder must also rotate with respect to the small grey box. The top of the cylinder needs to remain attached to the grey box. The grey box rotates around the larger grey box in the center.
If I rotate the cylinder at the blue box with the same rotation (or even a corrected rotation) the cylinder does not remain attached to the grey box.
I set the small grey box to rotate at 1 degree per frame.
How can I keep the cylinder attached to the small grey box and the small blue box and have the cylinder rotate with the same rotational speed as the grey box?