I just use the XYZ trans and rotate dials.  And if those don't work, I just grab the prop with the mouse and move it, then use the direct manipulation  tool (the one that gives you circles around the item that you can manipulate with the mouse) to turn it as I need to. Then I reparent to that arm.

"It is good to see ourselves as others see us. Try as we may, we are never
able to know ourselves fully as we are, especially the evil side of us.
This we can do only if we are not angry with our critics but will take in good
heart whatever they might have to say." - Ghandi