After taking closer look at the bones system, objects are linked to bones, so they just follow their parents. It appears that there doesn't need to be surface reaction related factors involved. Also it seems to provide more accurate movements, when compared to rigid bodies, where there may be some lag between objects.
Although it's very 'clean' way to make objects move, I find rigid body simulation more tempting at this point.
An example, where rotating purple frame is the animated object:
3D files (STL) and instructions for the mechanism that I used, are available at
https://www.instructables.com/Antikythera-Orrery-3d-Printed/
