What is the difference between craving and clinging? Considering the 12 nidanas


Ignorance    
Mental Volitions
Consciousness
"Name" and "Form"
The six senses
Contact  
Feelings
Craving
Clinging
Becoming
Birth
Suffering and Death


What is the difference between craving and clinging? They seem very similar to me. It would be helpful if someone could reference the original Pali and draw out the nuances of these terms.

Many Thanks
Craving is when the baby reaches with desire for the pacifier and clinging is when the baby has the pacifier and won't let it go.

To distinguish craving from clinging, Buddhaghosa uses the following metaphor in this source:


  "Craving is the aspiring to an object that one has not yet reached,
  like a thief's stretching out his hand in the dark; clinging is the
  grasping of an object that one has reached, like the thief's grasping
  his objective.... They are the roots of the suffering due to seeking
  and guarding."