I would love such a tool, but alas, as far as I know, there ain't no such tool for SU.
The closest I know of is Sketchyphysics. This will allow all sorts of joints and controls, BUT, does not allow you to set the position of parts in the drawing proper. You can only move parts via a run-time module within SU. Stop the run and everything reverts back to its start point.
It's a great tool, and can do a lot of wondrous stuff, but the learning curve is quite steep and quite frankly, although I loved it, I gave up on it.
So now, if I need to see an articulation I create layers for each position, and rotate copies of the component around the axis point, with each position on its own layer. Making the rotated part a component allows you to edit the part in any of its positions and the change ripples through all the positions. Great for fitting parts in complex geometries.