It's doable. If you want to rotate an arm moving toward the mouth do this:
Using the Freeform drawing tool, *roughly* draw the shape of the arm you
want to rotate (I'm assuming the arm separate from the body). Now take that
object you just drew and rotate it to the exact opposite persective of the
"real" arm. Align the orignal arm's shoulder with what would be the shoulder
area of the drawn object (one end touches the other -- this creates the
fulcrum Group the arm and the drawn object. Make the drawn object transparent
(remove fills and lines). Using the Emphasis Spin effect (at the desired
degrees) create the rotation. Because you've grouped the arm and the drawn,
invisible object together, the will rotate at the "shoulder" (fulcrum) area.
Hope this helps.
Sandy