The attached Joint.png showed and example case of a joint (2 continuum members are connected). There are 3 characteristics of this,

1. There is a Gap: Cause small amount of rigid body rotation and translation

2. There is surface contact: Cause Friction

3. Movement along the hook profile: Cause large rigid body rotation and translation

4. There is deformation in the member: Can't avoid FEM

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For this case lets assume question 3 is not valid. So, there is no movement along hook surface or profile, hence large movement is not allowed. Hence, non-linear geometry is not required.

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So, my question is, is there any simple method that can replicate such joint?

I mean, no surface-surface contact.

Instead using Elements (FEM) that can consider friction and small rigid body movement?

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The Joint_FEM.png showed such case where there is "Joint element" that can capture the joint behavior and "General element" is to get the deformation.

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Thanks!