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How to rotate

I've created two parts and want to assemble them but when I open up assembly and add parts to assemble l know l can fix one part but the other part l need to be able to rotate with out both moving the same time and l need to be able to change angle of parts to position properly. Is all this possible and how to do .l watched a lot of videos and can't seem to figure it out.
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Answers
I would highly recommend the Onshape Learning Center
https://cad.onshape.com/help/Content/triad.htm