crane lifting cylinder held by fixed joint moves out of position when i rotate crane.

So this works perfectly when i dont rotate the actual crane and only move the booms (knuckle boom and main boom). However as soon as i rotate the crane the go out of alignment. I suspect i need to write a script or something but i dont really know where to start. Right now the white cylinder inside the yellow one is parented to the main boom and fixed jointed to the yellow cylinder on the outside. The yellow cylinder is parented to the main part of the crane.

In 3ds max this would be done with a look at constraint, wich im wondering if could be used here aswell? Otherwise im open for all suggestions.