Obviously, you could animate something like this by hand but is there any software on Linux meant to simulate this kind of mechanism?

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    16 hours ago

    I haven’t used it myself, but maybe look into 2D animation software that offers bones and rigging. You may run into the same limitations you mentioned for Blender, but who knows, maybe not?

    Here’s an open source one that appears to have this: https://www.synfig.org/