Back to RhinoWorks - simple animation like for children was available for Rhino - RhinoWorks was the answer, simple like to play with Lego bricks. Simple connect parts by constrains, no difficult link chains was needed. If special Bongo functionality was needed, than a Bongo animated object can be set as actuator.
Bad news - RhinoWorks isn’t available anymore. Good news - the geometric solver is available for developers.
https://www.bricsys.com/en_INTL/developers/components/
So, Bongo could be one of the simplest animation systems by adding the geometric solver of Bricsys.
Here a short video like it was working: