Can anyone help me rig this?

the wheel is connected to the rod.
I want the wheel to touch the surface of the highlighted object. So, when the highlighted object rotates, I want the wheel to rotate and it should move the edge of the rod up and down along with the wheel.(Tried to use shrinkwrap constraint and only copy the z location but didnt work as expected).

https://preview.redd.it/9519736d856g1.jpg?width=1141&format=pjpg&auto=webp&s=4b312891a0d4d86e071a54b6bdec931db48945da

https://preview.redd.it/25pwa7kf856g1.jpg?width=860&format=pjpg&auto=webp&s=4cc77876fb61bd2e0e1716819802461460d7b70b