Create a joint between a face and an edge

[leoliangBEFML]

I want to let the pink object slide and rotate while keep contact with the green object.

I tried to make contact set with both components. When the green object is grounded, I can't make the pink object rotate.

[KristianLaholm · Accepted solution]

I'd use a PinSlot Joint for corner sliding horizontally.
And add a hidden component with a Revolve joint to grounded component and a Sliding joint to the box.
With Hidden component

Screen cast showing the movement https://knowledge.autodesk.com/community/screencast/0fb309d5-24b2-4296-b245-8951d9af1d16 

[leoliangBEFML]

Think you. The hidden component is the key!