Rotation Actor around Pivot

I am currently trying to set up a boat pawn. To have the pawn move more boat-like, I need the rotation to be around the rudder in the back of the boat. I initially had the rudder be the parent component of the pawn, but that caused collision issues as for the collision box to work, it has to the be parent component. Whenever I attempt to use RotateVectorAroundAxis, it causes the boat pawn to either go upward, or rotate around the entire level.

I am hoping to find a simple way to have the rotation of the boat be controllable and rotate around the rudder component (or atleast near the rudder component).

Thank you