A block like the one in the youtube link would not be possible I think. Especially not the boundaries of the movements.
Because that crane has a vertical axis to turn the crane base and a few horizontal axes for the boom, it does not seem possible.
Separately it can be done. Then the rotation angle of the crane base has to be put in separately as rotation of the entire dynamic block.
I have done this a few times.
Start out with making a dynamic block of all the parts of the crane boom as separate (normal) 2D blocks. I used rotation parameters. They can be linked to lines in the 2D blocks.
After you make the 2D dynamic block work, edit the 2D blocks with 3D content.
See attachment for a simple example of a small crane used aboard ships. This dynamic block only has an input for the boom angle.
It takes quite a bit of fiddling to make it work, but the results can be great.