Check out example codes for "Unity make homing missile 2d". It will help you in understanding the concepts better.

Code Example 1

Vector2 direction = (Vector2)Target.position - rb.position;
        direction.Normalize();
        float RotateAmount = Vector3.Cross(direction, transform.up).z;
        rb.angularVelocity = -RotateSpeed * RotateAmount;
        rb.velocity = transform.up * Speed;

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