(2d) How do you set up a multi-part limb to to move to a point?

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:bust_in_silhouette: Asked By DJ_Fail87

I want to make a drill arm attached to a vehicle, and have the end of the arm move to where you click. I got the drill to rotate correctly, but I can’t figure out how to make the arm move to reach the point.
I was just doing a quick test throwing this together so I just used sprites, and I rigged up a skeleton for it.

The arm is composed of three parts, a drill, an arm section that connects the drill and next arm section, and the second arm section that connects the first section to the machine.

So:
Machine->Upper Arm->Forearm->drill