SC-Motion, a motion and dynamic simulation addin inside SpaceClaim has abilities to perform motion (kinematic) and dynamic simulation on SpaceClaim assemblies. The motion at the joint can be a rotation or a translation. These can be supplied as Equations as well, which is covered in the tutorial below (The embedded tutorial file can downloaded here )
A video with example motion equations is below. (The video can be downloaded here )
All the SpaceClaim assemblies and the corresponding motion equations can be downloaded here. The zip file further contains six zip files. Each of these contain SpaceClaim file and a .txt file with equation (for reference).