Hi,
for this, you will need to have a several step process.
your yellow sphere is a child of a invisible dummy with a position offset of -0.5 on the z axis so that the sphere is starting right on the parent pivot
1: scale the dummy on the z axis to the distance between your end points, this will stretch the yellow sphere from one side
2: the dummy is a child of the start point, use a look at action to make it look at the end point.
but that's a lot of work, just because in fact, this should be done in your 3d software editor like c4d or 3ds max really.
Bye,
Jean