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You're off to a good start. The IK joint chain you have is working fine. You just need another joint ik for the geo circled in red. Use a single chain ik handle and point constrain it to the mid joint of your first ik joint chain. Now either parent or constrain your geo to your new joint. I would group the circled geo and parent constrain it to your new joint. Now set the pivot of the lower "U" shaped mesh where the mid joint of you first joint chain is. And now point constrain that mesh to the mid joint. This should achieve the sliding action. I didn't test this...just thinking out loud. Let me know if any of this is unclear. Good luck.
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