do you need animation, motion or deformable bodies (Fea)?
in animation you won't get engineering results, but will make nice videos
in motion the bodies will all be stiff but you'll get engineering results (velocities..etc)
in fea, you'll get deformable bodies but you'll ahve less control over the animation and "motion" part
if your part moves and drags the way that you want it to move, based on your description you should go with animation and that should solve some if not all of the problems. when you move to motion, if you don't have your mates setup appropriately, you may run into issues.