To pose and animate a joint with forward kinematics

1. Select the joint you want to animate.
2. Select the Rotate Tool (hotkey: e) from the Tool Box.

   The rotation transform manipulators appear.

3. Advance the current time indicator along the Time Slider to the point in time where you would like to set a key.
4. Rotate the joint to pose the current joint and all its child joints and then set a key (hotkey: s).

   For more information on animating with FK, see Keyframe Animation in the Animation guide.