How to create a rotary joint in Creo Simulate

In Creo  Simulate, is there a method to define a rotary joint between two components in a four-bar linkage mechanism? Will apply constraints such that the assembly is fully constrained. I've tried the 'pin' joint, but it's wrt the world, not between two parts. I've also tried 'displacement' with a body-attached cylindrical csys, but no luck. 'Contact' option also doesn't work. The rotary joint seems to be a pretty basic function in FEM/FEA, am I missing anything?