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Rotate from point

Okay so what I want to happen is to be able to grab something from the top of it, then let's say you move your finger left to right, and now the actor will start swinging from the point you grabbed. For example, let's say I have a rectagular actor and I grab it from the top. I can pick it up from the ground and if I move it left, it will swing left and then back to even itself out. Is this possible? And if so, could I have some help? Thanks !!!

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