What is the difference between craving and clinging?

Considering the 12 nidanas 1. Ignorance 2. Mental Volitions 3. Consciousness 4. "Name" and "Form" 5. The six senses 6. Contact 7. Feelings 8. Craving 9. Clinging 10. Becoming 11. Birth 12. 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