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The Avenger A2030D kit comes with a grip arm set that has one D200 grip head that is "loose", and one similar grip head that is attached to the end of a grip arm rod. Either of the grip heads will go directly on to the top of the Avenger C stand that comes with that kit using one of the several hole sizes. These grip heads lock down very well, and are suitable for light weight lighting gear, even though they are really designed for grip related things like flags and cutters.
Because the one grip head is loose, it can be clamped down at any point along the arm, so you can use the combination to do an adjustable extension of the arm, with the loose grip head on the stand, and the fixed one at the end. What you put on the end of the arm and how you attach it, can get complicated, but getting a standard Avenger E600 "Baby" pin is usually a good choice for many loads. That pin has a collar on it that allows it to be safely pointed downward through a grip head at the end of the arm, and with that, most standard lights that are light weight can be attached to the pin and used, and still be easily adjusted.
A true boom is what is really needed for medium and large lighting loads. Be very careful of any overhead rig, and never overload it. The safety of you and your model are very important. For a grip arm, we are talking about only supporting a few pounds, depending on how far you extend it, and if you add a counterbalance weight. The grip arm is plenty strong enough to support a lot more weight, but the adjustment and chance for slipping combine to limit its safe use to the low load range.
The Avenger D600 mini boom is the next step up from Avenger in load handling, and is highly recomended for medium lighting loads, so keep that in mind for in the future. You can check out all this stuff on the B&H site, and if you purchase using a link from this site to get there, you will help support this site.