Not a lot of info about what you need here. I assume this is meant as some sort of training application?
If that is the case, I would not be approaching this with physics as it won’t help the learning and will be a point of frustration. I would use a socket system where bolts snap into holes of the right size, then the wrench snaps onto the socketed bolt head to turn it. I would even go so far as to ensure that every part has a default socket so that if its dropped by accident it snaps back to it.
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