Well, there are actually several ways to do it. I'm not really a limb fan, I like to load separate models and handle my own relative positioning and rotation. It's easy to do in DBP with the relative motion commands and it gives me programatic control of screw rotation as well as the ability to swap parts, color objects independently, or have the props fly off when the air ship is damaged. It's probably not the best way to handle people, but it works just fine for gizmos like air ships, planes, helicopters, radar booms, and especially for gun turrets.
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TAZ