What type to mechanical joint to achive Slide then Rotation motion

I have two parts (Green and red fixed) i want to connect them with a joint (Blue) that permit the green one to slide outwards then rotate.

Side View (Right part)

a simple pivot point doesn’t work since the two piece will collide with each other.

I thought about using 4-bars linkage, but couldn’t figure out the right combination to give the path of motion I’m looking for