Divulging myself into pain and torture (scripting a leg)

WEll, Im scripting a leg to move on three joints. That's my ultimate goal anyway. For now Im trying to get one prim to rotate around another. Essentially what im trying to do now, is to get a rectangle to spin around a sideways cylinder. Looks like the letter I from the side and after a half radian rotation it looks like and upside down I but the dot doesn't move. Its not very fun for me right now, as what I have is the entire linked object spinning around it's center point 1 radian everytime I touch it. Ultimatley I want 6 prims to work simultaneously to walk like a leg and move a robot, but thats alogn way down the road.

I'm faced with the same issue, but I've been avoiding it for several months

If only SL had inverse kinematics *sigh*