How do I rotate an object about a point other than it's local coordinate origin?

I’ve got an assembly of parts using joints here:

Currently, when you click a part, a gizmo pops up at the parts’ local origin.
I’d like to rotate the top small link about the other joint it’s connected to in order to move the large arm up and down but right now, it’s gizmo is connected to it’s local origin on the other side. How do I get the gizmo to snap to the other side?

Pinging @cedric

Does this topic help? SetPivotMatrix with Gizmo

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If I understand correctly, when you click a part, you would like to get the gizmo at the origin of the child part instead of the part you click?