I believe there is a plugin that you need? I don't know what else though. I did some searching but I didn't really find more then it saying that there is a plugin that you (might?) need?
COMMUNITY QUESTION
What am I going to need for custom sword Animations?
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Did not research enough... http://wiki.roblox.com/index.php?title=Animations
Are you looking to make animations with the actual animation object or replicate what the animation object does, but with welds?
actual animation