Sickle/Sword IK System

I’m attempting to use Inverse Kinematics to create a system for my farming game for harvesting. I want the player to be able to swing the sickle left and right, and the sickle and arm will smoothly follow the direction of the swing. I don’t want snippets, I want a explanation on how I could create this system.

Currently, I’m using robert_stevey’s R6IK module for the arm, and I copied the WorldCFrameToC0ObjectSpace function in an attempt to face the sickle toward the target, and flip the sickle whenever it reaches the other side. This is just so finicky and doesn’t really work when you swing Left to Right; but this is what it looks like:
https://gyazo.com/801d7306df4858f81a5667977972ea63

If anybody needs more information, I’ll provide it. If this is the wrong section, I’ll move this (I don’t really post here). I really only want a explanation on how this works, any pointers to articles that could help, and if I missed a post like this please show me because I can’t find anything on a system similar to this. Thank you guys so much!