Hi @AshishKhemka @peteroznewman

I created the contact between the top surface of the mechanism and the circular surface, I put an offset contact because I want to limit the movement of my mechanism to 20mm.
The problem is that it does not take into account the contact.

as you can see on the picture the mechanism crosses the circular surface so it doesn't take into account the shifted contact, it is supposed to move just 20mm without crossing the circular surface