How do I make a dangling Rope/Chain connected on both ends?

Hello fellow C2'ers

I am having a hard time making ropes/chains/pipes that are connected at both ends to create a dynamic dangling effect.

Here is a crude screenshot of a boss I am working on for Robot 505 to help illustrate what I am trying to accomplish.

I have gone through the C2 examples on ropes, along with looking into chipmunk physics, and built in C2 physics to achieve this.

I am able to create a rope(s), using any of the above mentioned methods, but making a rope connected at both ends has been an issue. Any direction on this would be fantastic.

Thanks

the rope in this link is a bit more than you asked for, but it has attachments on both ends:

LittleStain Thank you!