In the PropertyManager,
under Add Relations, select Coincident
,
Scroll to the bottom of the cylinder, drag the pointer over the bottom of the cylinder, and when a sketch entity is highlighted, right-click and choose Select Other.
Drag the pointer down the list until the center of the arc on the cylinder is highlighted in the graphics area and click to select it.
Select the point on
the base, add a Coincident
relation, and then click
.

Click Zoom
to Fit
(View
toolbar), select any sketch entity on the upper arm, and move the arm
up and down and back and forth.
Close the sketch and save the part.