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Blender. Question about rigging up an antenna

So below here, I have taken a screenshot of the top of the head of this robot that I am working on.

hooksquestion.jpg

Now, this seems to me like it would be something simple. But I can't really figure out how to set it up how I want it. The red object is his head, the yellow the antenna, and the green is just an object to be fitted onto the end of the antenna.

All I really want is pretty obvious. The antenna should be anchored to his head just where it is. And for it to be able to wobble (I used a soft body, is there any better option?) and the object at the top to stay attached to the top of the antenna where it is. The antenna object is a curve, so I can't have it joined with the cradle at the top.

The heirarchy goes: Red Head > Yellow Antenna > Green Cradle, with the head being the parent.

Every time I animate with the soft body on, the antenna just bounces/wobbles in place, but the cradle stays floating where it is. Additionally, when I animate the head to move, for example: left on the x-axis; the antenna pretty much goes haywire and moves back and forth along the x-axis, but it still follows the general location of the head (if that makes any sense).

I tried some things with hooks, though I don't really know what I'm doing with them much. Any help here at all with setting this all up would be much appreciated. :)
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