Question: how to use prismatic joint for 2D translational

let say I have a rod(x-direction) with a mass at each end. I want to apply two different forces(both z-direction) to the ends of the rod. Also, i want the force to be always perpendicular to the rod length. The rod is supposed to be spinning. However, the rod only move at the speed due to the larger force.

How can I make the rod to be spinning(each end move at different speed)?

And, how to use the solid green(flange A)? I am very curious about this asI believe the reference frame can be the solution of my problem.

Thanks.

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