How do I make a character attach a rope to a hook and swing?

Hello!

I’m making a game where a character (like in castlevania) throws out something to latch onto a hook and swing from it, although in this case it’s a blob shooting out an stretchy arm to grab. The animation isn’t important tho, I just haven’t found a way to connect an arm sprite to both the hook and the blob to make the blob swing.

Thanks in advance!