Most CAD packages have motion simulation- they will move parts relative to each other, given an input force/displacement that you provide.
If you want mass/inertia and friction, you are going to have to go FEA or solid body dynamics programs at least. I would say ehh to ANSYS, not the greatest multibody dynamic solver. I would say Nastran before Ansys. But I would say Abaqus or ls-dyna above all others. You need a multibody dynamic solver. You can set the sub components as non-deformable bodies to save processing time and get a good idea of how stuff will move.