How to model a cam with a flat-faced follower?

I am trying to create a cam mechnism in simscape for my class. I've successfully completed the cases when the follower has either a pin head or a roller head. However, the flat-faced follower (see the following figure) is giving me troubles. Which constraints or joints should I use for the follower-cam contact? I saw that some answers have referred to the "Simscape Multibody Contact Forces Library". I checked it already and it is really complicated. I am wondering if there are simple solutions without using customized functions. Currently, I only focus on the motion and do not care about the contact force. A face contact can be easily achieved in Solidworks or Working Model 2D. Are there anything similar in Simscape? Thank you.