How do i make a part track to a position

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i am trying to make server-sided vr hands “move” towards where the client tells them to, and to make sure they dont phase through parts, i wanted to make them track very quickly to their position (like within 1/10th of a second)
the issue is, when i attempt it, the hands disappear and the tools they hold start flying

i tried to use linearvelocities and angularvelocities for it

RightLinearVelocity.VectorVelocity = RightArmCFrame.Position-Character:FindFirstChild("Right Arm").Position
	RightAngularVelocity.AngularVelocity = CFrameToOrientation(RightArmCFrame)-Character:FindFirstChild("Right Arm").Orientation
	
	LeftLinearVelocity.VectorVelocity = LeftArmCFrame.Position-Character:FindFirstChild("Left Arm").Position
	LeftAngularVelocity.AngularVelocity = CFrameToOrientation(LeftArmCFrame)-Character:FindFirstChild("Left Arm").Orientation