Object pushing Rigidbody2D upward, what should I use?

Getting back into Unity3D development, making a game using the 2D physics system. I have a ball with a circular 2D collider and a Rigidbody2D sitting on top of a bar, and that bar is controlled by the player, pushing the ball upward.

Should I be using a RB2D for the bar and applying force and torque to the bar, as it needs to rotate and move upward? My only complaint is that I'd like very exact, start-stop motion, which I don't recall being well-done with RB physics. Any advice, let me know, thanks.