The best way to handle your issue is to place in control props. I would use two cubes. Place one cube at the center of the pole so that when you rotate that box it spins along the axis of the pole. Parent the second box some where outside the pole so that when you rotate the first box it orbits the pole. Add a constraint to Andy and the second box. With it dialed to zero Andy will not be affected by the box and when at 1 the box becomes like a parent to Andy. You will need to place the second box in the correct position and dial the constraint to 1 and move Andy using the constraint adjustment controls to position him at the contact point. Dial back to zero. Place Andy at his starting point move down the time line and as you get to the launch point place a Key Frame for the constraint and move down the Time Line and place another Key Frame with the constraint to 1. At this point Start rotting the first cube (inside the pole). What you should end up with is Andy standing (whatever) him moving towards the pole and rotating to match the constraint and finally him swing around the pole. At this point I would start a new scene with a different cut angle and edit the pieces together in a video editing program. The reason is if you dial down the constraint on Andy he will move back to his starting point (not stay where he was). If you really want to keep it altogether in one scene then I would setup another constraint and start to dial that up as you dial down the first constraint.

Poser 5, 6, 7, 8, Poser Pro 9 (2012), 10 (2014), 11, 12, 13