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How do I make translation a function of rotation? (Rigging)

I have a character rig that I rigged in an arrow shaped T-pose. When I make his arms go to the side, I must translate the shoulder joint away from his body for a natural look. How do I make it so that when I rotate his shoulder into a certain range, it creates translation?

Am I doomed to redo the model/skeleton/skin? or is this a normal aspect of rigging?

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