He is limping on his back leg and when I touch it he cries
We appreciate you reaching out to us.
First, inspect his painful area. Check his joints and bones(especially the patellar) If his joints are swollen and hot, it can be a ligament injury or a fracture. In this case, you should visit a nearby vet for an accurate diagnosis and treatment.
If there is no abnormality in the range of joint movement of him, and there is no doubt of a fracture, it may be a simple sprain.
For the first two to three days, massage the area with an ice pack, and if the symptoms improve, massage the joints or muscles with a warm towel afterward.
And if you cannot find any physical injuries or lesions on the limbs or between the paws, the problem is likely to be an internal cause. He is limping at the moment because he is not able to completely bear weight or pressure on that particular limb. You need to make an appointment with a vet for a physical examination and an imaging test to pinpoint the cause. Till then, restrain him from any unnecessary motion as continuous limping would only exacerbate the situation and lead to other musculoskeletal problems.
Please do not hesitate to ask any further questions you may have. Thank you.