Question Move 2D worm with colliders

I have a worm (as in terraria) consisting of a head following by several body parts. The head and each part have a collider. The parent of all this objects have a script to detect collisions and a 2D rigidbody.

My question is : how am I supposed to move and rotate the worm ?
Do I have to move each part with Transform or is there something else in this case ?

 

I tried your solution, but I didn't achieve what I looked for (probably my bad). I want something more like a trail with collider.

 

Want to recreate the game like Snake?

 

I want to recreate the Terarria worm

 

Any worm/snake-style movement is similar. You have a few GameObjects that create a body of the creature. Each body part must know where to go (a list sequence structure). The head is the start of a list, the second element will have a head reference, and the third element will have the second part reference, etc. All end at the tail (end of the list).

When we have structure logic, we create one script that tracks the object ahead of him (by the reference you already have).

 

That's what I did. But how do you move this type of object?
I mean, all parts have a collider and I want the parent to have the rigidBody. Theoretically, we should move objects with colliders thanks to their rigidBody. But how do we do this when the colliders are in the children of the rigidBody object?

 

In the primitive form, you can do it by yourself without Rigidbodies. But if you want Rigidbody maybe HingeJoints2D will be a better direction for body, connected to head object you will controll. Later you add some limit how much it can turn so you don't turn full 180 degree.

Edit: Like dragging a pendant on a table.