Use 3D contact and some simple construction surfaces that are supported by 3D contact, like a sphere and a plane, or even use multiple spheres to make contact zones on your part. The pin can be on a cylinder joint or whatever allows/constrains the motion desired including spring biasing etc. It still may be possible to use a CAM, but if the end of the pin is flat or a spherical dome you would need to change it to a convex straightly extruded surface that approximates the original surface. A CAM can sometimes be used in situations that don't look so much like a CAM, even 90 with degree oriented shafts, rather than parallel. A CAM is much less cost computationally than 3d contact in my experience.
If you are still working on this and if possible add a screenshot so we have some idea what you are up against.
