Simple component for controlling a rigid bodies position and rotation using just the application of forces. Good for allowing playing manipulation of physics simulation.

RigidbodyTrackTransform.cs

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class RigidbodyTrackTransform : MonoBehaviour
{
    [SerializeField] Rigidbody body;
    [SerializeField] Transform target;
    [SerializeField] float maxSpeed = 30f;
    [SerializeField] float maxRotSpeed = 720f;

    [SerializeField] [Range(0, 1)] float positionEase = 0.5f;
    [SerializeField] [Range(0, 1)] float angularEase = 0.3f;

    Vector3 targetPosition;
    Quaternion targetRotation; 

    void FixedUpdate()
    {
        if(target){
            targetPosition = target.position;
            targetRotation = target.rotation;
        }
        var deltaPos = targetPosition - body.position;
        var deltaRot = targetRotation * Quaternion.Inverse(body.rotation);
        Vector3 axis;
        float angle;
        deltaRot.ToAngleAxis(out angle, out axis);
        float speed = positionEase*Mathf.Min(deltaPos.magnitude/Time.deltaTime,maxSpeed); 
        float angularSpeed = angularEase*Mathf.Sign(angle)*Mathf.Min(Mathf.Abs(angle)/Time.deltaTime,maxRotSpeed);
        body.velocity=Vector3.zero;
        body.angularVelocity = Vector3.zero;
        body.AddForce(speed*deltaPos.normalized,ForceMode.VelocityChange);        
        body.AddTorque( Mathf.Deg2Rad*angularSpeed*axis,ForceMode.VelocityChange);
    }

    public void SetTargetTransform(Transform target)
    {
        this.target=target;
    }

    public void SetTargetPositionRotation(Vector3 position, Quaternion rotation)
    {
        this.target=null;
        targetPosition = position;
        targetRotation = rotation;
    }
}