Welds not allowing Animation instances to rotate welded parts?

When trying to animate a part welded to another part, and using an AnimationController to handle the animations on the welded part, the JointInstace does not allow the welded part to rotate

edit: bad explanation of what i am trying to say above

which inevitably leads to this animation:

Intended look

looking like this ingame:

What it actually looks like

What I want is a way to reach the intended look while still using Welds, if possible. I've tried right about anything I could think of but I still haven't found a workaround