Move/Rotate Kinematic (2D) Child with MovePosition/MoveRotation Doesn't Work

I have an object that I move with forces. When that object collides with another object then the first object becomes a child of the second one. Now when the first object becomes a child of the second object its rigidbody 2D changes from Dynamic to Kinematic and I'm trying to move and rotate it using the rigidbody2d.MovePosition() and MoveRotation() but the child won't move at all, it just "freezes" there. The parent object also has a rigidbody but its Kinematic by default and it also uses MovePosition/MoveRotation.

Am I missing something here ? Can a kinematic child of a kinematic parent move by itself using MovePosition and MoveRotation? Or do i have to rely on transform ? If I have to rely on transform whats the equilivant of MoveRotation for transform? Because the angle I'm calculating and using for the MoveRotation doesn't rly work well with the transform.

Thanks in advance.