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you track the total movement vector scaled down. 
And add that to the target (in this case the pen objects)
 current position each time.  
If the cursor and pen object get too far out of sync
 you just release the mouse. Move the cursor back over the pen
 and start dragging it again. 
The eye focuses on the moving pen.
The hands quickly learn to adjust. 
The pen object can be whatever size you like. 
It does not have to be "picked up". 
It can just be "moved along" (as when you drag the brown halo.)

Hth,

Yours in curiosity and service, --Jerome Peace