How do I do this ?

Take a look.

prntscr.com/fezusr

black pipe and red pipe are pinned. when button A is down how to make them stand like the position below. and when button A is released they go back to position 1.

You can change their angle on click, and then change the angle back to 0 on mouse release.

how to change postions smothly. i cant change their angles it would look weird. is there any other solution ?

well another solution would be having an animation, that changes them slowly. And you start the animation on the click.