I've create a new tool to animated your buildings, animals, constructions, attachments. Very little scripting is needed, and certainly no vector or roation math is required. Use standard SL tools to set your object in different positions. You can even move parts of your structure independently from others. Your animated object will be transfer and copy !
Look at the video:
http://www.youtube.com/watch?v=FqGxmYwPGNU
The PrimAnimator is for sale for L$799 at the Ventilation shop in Kailash :
http://slurl.com/secondlife/Kailash/25/97/49/