I’m rather hoping there’s something better, but various CAD formats support specifying assemblies of objects, and joints between those objects that can represent properties like that. Often this comes with at least some level of simulation, or if not simulation imposed constraints like in the FreeCAD assembly workbench, allowing you to move connected parts in the assembly but only through the range permitted by the “joint”. I quote that because that includes things like meshed gears, linear slides, ball joints, all kinds of things like that some of which I would not call joints as such.