nothing easier than this.
First, and I hope You already have done so, use a "slot" feature in the part to create this slot, no standard cutout feature.
And then take the "Path Relation" in ASM to connect the bolt to the slot.
The slot center curve of the plate automatically is taken to be used as driving path for the bolt axis.
See here the picture, where You find the slot function in part:
@VitaliyV If you have a situation without a slot as @hawcad demonstrated and need to visualize how parts move realistically relative to one another, check on the "Physical Motion" option in the ribbon bar for the drag component command. Also, check "Locate Grounded Parts" if that is applicable to your situation.