Use the Planar Joint node for 3D components to create a joint between two components such that they are free to translate relative to each other in a plane perpendicular to the joint axis and also free to rotate relative to each other about the same axis.

The Constraints, Locking, Spring and Damper, Prescribed Motion, Applied Force and Moment, and Friction subnodes can be added to modify the properties of the joint.

Physics tab with Multibody Dynamics selected: