Anyway to make a model have rotation velocity?

Hello! I am attempting to make a skyhook from bioshock Infinite with moving parts. I have two models; 1 named SkyHook, being the main base with no moving parts which has also been welded. two being named Hook. I also have the hook welded consisting of three parts. I want all of the parts to be moving in the same direction and the same speed. I have attempted using gyros but have not found anything that works. And if there is a way to script it, don't give me the script. i want to learn on my own! Finally I want this to be a tool. I am using the base tool "Laser Chainsaw". If being a gear will screw anything up please tell me! I just need to know how I can do this before I start experimenting! Thank you!

~Minikitkat

Update: found I have to use BodyAngularVelocity in all 3 parts and have them the same speed but when I attatch it to a part that has a hinge on the main model the whole model spins. Anyway I can fix that so only the "Hook" model spins?