How to make a chain of physical objects between two kinematic objects that are moved around?

I am making a sword fighting game and my sword and the body is kinematic objects, I want to have a dynamic arm which I don't really want to care about so I thought a physics based arm would be easiest way to deal with it.

My arm is made out of two cylinders, and I want them to constantly be connected to the body and the blade, and when they move they change angle. I have tried to use joints, but I am not sure how to make a joint that does that.

How do I easiest way make the arms be physics based, and simply move about, and adapt to the kinematic objects. Is it even possible, or does everything involved with joints have to be physics based and not kinematic?