Thank you for your reply.

Yeah, I forget to mention that I wanted the shaft which is connected to the third body tilt as well. So, now, I used spherical joint so that shaft can tilt on the third body.

But now I would like to give the rotation to the shaft without affecting the tilt(spherical constraints), which means the center of rotation should change as shaft deforms and also rotate at same time.  How can I do so?  I couldn't give rotation using a spherical joint. If I use the body to ground revolute joint at the end edge of the shaft, that will constraints rotation/tilt which is created by spherical joint before.

In real design, the shaft is connected to the third body using plain bearing or bushing, so I am trying to get close to that constraint situation. 

I have added the picture, how my design looks with a slot and spherical joints.