Making a body part rotate and move at the same time

How can you make a body part – say a arm – move with the body and rotate at the same time, and with it the elbows rotating, too? Can this be done in with motion tweening?

make the hand the child of the forearm, make the forearm the child of the upper arm, make the upper arm the child of the body. then tween the rotation of each and you can make an arm that swings - like for a walk cycle or whatever.